* installing to library ‘/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages’
* installing *source* package ‘imuf’ ...
** package ‘imuf’ successfully unpacked and MD5 sums checked
** using staged installation
** libs
using C++ compiler: ‘g++-14 (Debian 14.2.0-8) 14.2.0’
make[1]: Entering directory '/home/hornik/tmp/scratch/RtmpgRjc0e/R.INSTALL2461d72145299b/imuf/src'
g++-14 -std=gnu++17 -I"/home/hornik/tmp/R.check/r-patched-gcc/Work/build/include" -DNDEBUG  -I'/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/Rcpp/include' -I'/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include' -I/usr/local/include -D_FORTIFY_SOURCE=3   -fpic  -g -O2 -Wall -pedantic -mtune=native   -c RcppExports.cpp -o RcppExports.o
In file included from /home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/Core:205,
                 from /home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/Dense:1,
                 from /home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/RcppEigenForward.h:28,
                 from /home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/RcppEigen.h:25,
                 from RcppExports.cpp:4:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:46:40: warning: ignoring attributes on template argument ‘__m128i’ [-Wignored-attributes]
   46 | typedef eigen_packet_wrapper<__m128i, 0> Packet4i;
      |                                        ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:47:40: warning: ignoring attributes on template argument ‘__m128i’ [-Wignored-attributes]
   47 | typedef eigen_packet_wrapper<__m128i, 1> Packet16b;
      |                                        ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:49:39: warning: ignoring attributes on template argument ‘__m128’ [-Wignored-attributes]
   49 | template<> struct is_arithmetic<__m128>  { enum { value = true }; };
      |                                       ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:50:40: warning: ignoring attributes on template argument ‘__m128i’ [-Wignored-attributes]
   50 | template<> struct is_arithmetic<__m128i> { enum { value = true }; };
      |                                        ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:51:40: warning: ignoring attributes on template argument ‘__m128d’ [-Wignored-attributes]
   51 | template<> struct is_arithmetic<__m128d> { enum { value = true }; };
      |                                        ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:222:43: warning: ignoring attributes on template argument ‘Eigen::internal::Packet4f’ {aka ‘__m128’} [-Wignored-attributes]
  222 | template<> struct unpacket_traits<Packet4f> {
      |                                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:228:43: warning: ignoring attributes on template argument ‘Eigen::internal::Packet2d’ {aka ‘__m128d’} [-Wignored-attributes]
  228 | template<> struct unpacket_traits<Packet2d> {
      |                                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:1124:34: warning: ignoring attributes on template argument ‘Eigen::internal::Packet4f’ {aka ‘__m128’} [-Wignored-attributes]
 1124 | ptranspose(PacketBlock<Packet4f,4>& kernel) {
      |                                  ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:1129:34: warning: ignoring attributes on template argument ‘Eigen::internal::Packet2d’ {aka ‘__m128d’} [-Wignored-attributes]
 1129 | ptranspose(PacketBlock<Packet2d,2>& kernel) {
      |                                  ^
In file included from /home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/Core:174:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/Default/ConjHelper.h:16:60: warning: ignoring attributes on template argument ‘Eigen::internal::Packet4f’ {aka ‘__m128’} [-Wignored-attributes]
   16 |   struct conj_helper<PACKET_REAL, PACKET_CPLX, false, false> {          \
      |                                                            ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/SSE/Complex.h:173:1: note: in expansion of macro ‘EIGEN_MAKE_CONJ_HELPER_CPLX_REAL’
  173 | EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet2cf,Packet4f)
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/Default/ConjHelper.h:29:60: warning: ignoring attributes on template argument ‘Eigen::internal::Packet4f’ {aka ‘__m128’} [-Wignored-attributes]
   29 |   struct conj_helper<PACKET_CPLX, PACKET_REAL, false, false> {          \
      |                                                            ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/SSE/Complex.h:173:1: note: in expansion of macro ‘EIGEN_MAKE_CONJ_HELPER_CPLX_REAL’
  173 | EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet2cf,Packet4f)
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/Default/ConjHelper.h:16:60: warning: ignoring attributes on template argument ‘Eigen::internal::Packet2d’ {aka ‘__m128d’} [-Wignored-attributes]
   16 |   struct conj_helper<PACKET_REAL, PACKET_CPLX, false, false> {          \
      |                                                            ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/SSE/Complex.h:298:1: note: in expansion of macro ‘EIGEN_MAKE_CONJ_HELPER_CPLX_REAL’
  298 | EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet1cd,Packet2d)
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/Default/ConjHelper.h:29:60: warning: ignoring attributes on template argument ‘Eigen::internal::Packet2d’ {aka ‘__m128d’} [-Wignored-attributes]
   29 |   struct conj_helper<PACKET_CPLX, PACKET_REAL, false, false> {          \
      |                                                            ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/SSE/Complex.h:298:1: note: in expansion of macro ‘EIGEN_MAKE_CONJ_HELPER_CPLX_REAL’
  298 | EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet1cd,Packet2d)
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/Core:165:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of ‘struct Eigen::internal::find_best_packet<float, 4>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:22:57:   required from ‘struct Eigen::internal::traits<Eigen::Matrix<float, 4, 1> >’
   22 |   typedef typename find_best_packet<_Scalar,size>::type PacketScalar;
      |                                                         ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:266:49:   required from ‘struct Eigen::internal::traits<Eigen::Quaternion<float> >’
  266 |     Alignment = internal::traits<Coefficients>::Alignment,
      |                                                 ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/arch/Geometry_SIMD.h:24:46:   required from here
   24 |     ResAlignment = traits<Quaternion<float> >::Alignment
      |                                              ^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:44: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<float>::type’ {aka ‘__m128’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<float>::type’ {aka ‘__m128’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<float>::type’ {aka ‘__m128’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(4) float>::half’ {aka ‘__m128’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:208:88: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<float>::type’ {aka ‘__m128’} [-Wignored-attributes]
  208 |   typedef typename find_best_packet_helper<Size,typename packet_traits<T>::type>::type type;
      |                                                                                        ^~~~
In file included from /home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/Core:271:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<float, 4, 1>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<float, 4, 1>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<float, 4, 1>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<float, 4, 1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<float, 4, 1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<float, 4, 1> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<float, 4, 1>’
  178 | class Matrix
      |       ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:46:50:   required from ‘class Eigen::QuaternionBase<Eigen::Quaternion<float> >’
   46 |   typedef typename Coefficients::CoeffReturnType CoeffReturnType;
      |                                                  ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:273:7:   required from ‘class Eigen::Quaternion<float>’
  273 | class Quaternion : public QuaternionBase<Quaternion<_Scalar,_Options> >
      |       ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/arch/Geometry_SIMD.h:27:3:   required from here
   27 |   {
      |   ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<float>::type’ {aka ‘__m128’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of ‘struct Eigen::internal::find_best_packet<double, 4>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:22:57:   required from ‘struct Eigen::internal::traits<Eigen::Matrix<double, 4, 1> >’
   22 |   typedef typename find_best_packet<_Scalar,size>::type PacketScalar;
      |                                                         ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:266:49:   required from ‘struct Eigen::internal::traits<Eigen::Quaternion<double> >’
  266 |     Alignment = internal::traits<Coefficients>::Alignment,
      |                                                 ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/arch/Geometry_SIMD.h:98:47:   required from here
   98 |     ResAlignment = traits<Quaternion<double> >::Alignment
      |                                               ^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:44: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:208:88: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  208 |   typedef typename find_best_packet_helper<Size,typename packet_traits<T>::type>::type type;
      |                                                                                        ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 1>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 1>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 1>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 4, 1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 4, 1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 4, 1> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<double, 4, 1>’
  178 | class Matrix
      |       ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:46:50:   required from ‘class Eigen::QuaternionBase<Eigen::Quaternion<double> >’
   46 |   typedef typename Coefficients::CoeffReturnType CoeffReturnType;
      |                                                  ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:273:7:   required from ‘class Eigen::Quaternion<double>’
  273 | class Quaternion : public QuaternionBase<Quaternion<_Scalar,_Options> >
      |       ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/arch/Geometry_SIMD.h:102:3:   required from here
  102 |   {
      |   ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
In file included from /home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/SparseCore:37,
                 from /home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/Sparse:26,
                 from /home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/RcppEigenForward.h:29:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SparseCore/SparseMatrixBase.h: In instantiation of ‘class Eigen::SparseMatrixBase<Eigen::SparseMatrix<double, 0, int> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SparseCore/SparseCompressedBase.h:36:7:   required from ‘class Eigen::SparseCompressedBase<Eigen::SparseMatrix<double, 0, int> >’
   36 | class SparseCompressedBase
      |       ^~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SparseCore/SparseMatrix.h:96:7:   required from ‘class Eigen::SparseMatrix<double, 0, int>’
   96 | class SparseMatrix
      |       ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/unsupported/Eigen/src/IterativeSolvers/ConstrainedConjGrad.h:61:25:   required from here
   61 |   typedef Triplet<double> T;
      |                         ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SparseCore/SparseMatrixBase.h:47:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   47 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
g++-14 -std=gnu++17 -I"/home/hornik/tmp/R.check/r-patched-gcc/Work/build/include" -DNDEBUG  -I'/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/Rcpp/include' -I'/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include' -I/usr/local/include -D_FORTIFY_SOURCE=3   -fpic  -g -O2 -Wall -pedantic -mtune=native   -c imuf.cpp -o imuf.o
In file included from /home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/Core:205,
                 from /home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/Dense:1,
                 from /home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/RcppEigenForward.h:28,
                 from /home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/RcppEigen.h:25,
                 from imuf.cpp:2:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:46:40: warning: ignoring attributes on template argument ‘__m128i’ [-Wignored-attributes]
   46 | typedef eigen_packet_wrapper<__m128i, 0> Packet4i;
      |                                        ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:47:40: warning: ignoring attributes on template argument ‘__m128i’ [-Wignored-attributes]
   47 | typedef eigen_packet_wrapper<__m128i, 1> Packet16b;
      |                                        ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:49:39: warning: ignoring attributes on template argument ‘__m128’ [-Wignored-attributes]
   49 | template<> struct is_arithmetic<__m128>  { enum { value = true }; };
      |                                       ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:50:40: warning: ignoring attributes on template argument ‘__m128i’ [-Wignored-attributes]
   50 | template<> struct is_arithmetic<__m128i> { enum { value = true }; };
      |                                        ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:51:40: warning: ignoring attributes on template argument ‘__m128d’ [-Wignored-attributes]
   51 | template<> struct is_arithmetic<__m128d> { enum { value = true }; };
      |                                        ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:222:43: warning: ignoring attributes on template argument ‘Eigen::internal::Packet4f’ {aka ‘__m128’} [-Wignored-attributes]
  222 | template<> struct unpacket_traits<Packet4f> {
      |                                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:228:43: warning: ignoring attributes on template argument ‘Eigen::internal::Packet2d’ {aka ‘__m128d’} [-Wignored-attributes]
  228 | template<> struct unpacket_traits<Packet2d> {
      |                                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:1124:34: warning: ignoring attributes on template argument ‘Eigen::internal::Packet4f’ {aka ‘__m128’} [-Wignored-attributes]
 1124 | ptranspose(PacketBlock<Packet4f,4>& kernel) {
      |                                  ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:1129:34: warning: ignoring attributes on template argument ‘Eigen::internal::Packet2d’ {aka ‘__m128d’} [-Wignored-attributes]
 1129 | ptranspose(PacketBlock<Packet2d,2>& kernel) {
      |                                  ^
In file included from /home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/Core:174:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/Default/ConjHelper.h:16:60: warning: ignoring attributes on template argument ‘Eigen::internal::Packet4f’ {aka ‘__m128’} [-Wignored-attributes]
   16 |   struct conj_helper<PACKET_REAL, PACKET_CPLX, false, false> {          \
      |                                                            ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/SSE/Complex.h:173:1: note: in expansion of macro ‘EIGEN_MAKE_CONJ_HELPER_CPLX_REAL’
  173 | EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet2cf,Packet4f)
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/Default/ConjHelper.h:29:60: warning: ignoring attributes on template argument ‘Eigen::internal::Packet4f’ {aka ‘__m128’} [-Wignored-attributes]
   29 |   struct conj_helper<PACKET_CPLX, PACKET_REAL, false, false> {          \
      |                                                            ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/SSE/Complex.h:173:1: note: in expansion of macro ‘EIGEN_MAKE_CONJ_HELPER_CPLX_REAL’
  173 | EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet2cf,Packet4f)
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/Default/ConjHelper.h:16:60: warning: ignoring attributes on template argument ‘Eigen::internal::Packet2d’ {aka ‘__m128d’} [-Wignored-attributes]
   16 |   struct conj_helper<PACKET_REAL, PACKET_CPLX, false, false> {          \
      |                                                            ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/SSE/Complex.h:298:1: note: in expansion of macro ‘EIGEN_MAKE_CONJ_HELPER_CPLX_REAL’
  298 | EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet1cd,Packet2d)
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/Default/ConjHelper.h:29:60: warning: ignoring attributes on template argument ‘Eigen::internal::Packet2d’ {aka ‘__m128d’} [-Wignored-attributes]
   29 |   struct conj_helper<PACKET_CPLX, PACKET_REAL, false, false> {          \
      |                                                            ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/arch/SSE/Complex.h:298:1: note: in expansion of macro ‘EIGEN_MAKE_CONJ_HELPER_CPLX_REAL’
  298 | EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet1cd,Packet2d)
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/Core:165:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of ‘struct Eigen::internal::find_best_packet<float, 4>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:22:57:   required from ‘struct Eigen::internal::traits<Eigen::Matrix<float, 4, 1> >’
   22 |   typedef typename find_best_packet<_Scalar,size>::type PacketScalar;
      |                                                         ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:266:49:   required from ‘struct Eigen::internal::traits<Eigen::Quaternion<float> >’
  266 |     Alignment = internal::traits<Coefficients>::Alignment,
      |                                                 ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/arch/Geometry_SIMD.h:24:46:   required from here
   24 |     ResAlignment = traits<Quaternion<float> >::Alignment
      |                                              ^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:44: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<float>::type’ {aka ‘__m128’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<float>::type’ {aka ‘__m128’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<float>::type’ {aka ‘__m128’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(4) float>::half’ {aka ‘__m128’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:208:88: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<float>::type’ {aka ‘__m128’} [-Wignored-attributes]
  208 |   typedef typename find_best_packet_helper<Size,typename packet_traits<T>::type>::type type;
      |                                                                                        ^~~~
In file included from /home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/Core:271:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<float, 4, 1>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<float, 4, 1>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<float, 4, 1>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<float, 4, 1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<float, 4, 1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<float, 4, 1> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<float, 4, 1>’
  178 | class Matrix
      |       ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:46:50:   required from ‘class Eigen::QuaternionBase<Eigen::Quaternion<float> >’
   46 |   typedef typename Coefficients::CoeffReturnType CoeffReturnType;
      |                                                  ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:273:7:   required from ‘class Eigen::Quaternion<float>’
  273 | class Quaternion : public QuaternionBase<Quaternion<_Scalar,_Options> >
      |       ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/arch/Geometry_SIMD.h:27:3:   required from here
   27 |   {
      |   ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<float>::type’ {aka ‘__m128’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of ‘struct Eigen::internal::find_best_packet<double, 4>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:22:57:   required from ‘struct Eigen::internal::traits<Eigen::Matrix<double, 4, 1> >’
   22 |   typedef typename find_best_packet<_Scalar,size>::type PacketScalar;
      |                                                         ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:266:49:   required from ‘struct Eigen::internal::traits<Eigen::Quaternion<double> >’
  266 |     Alignment = internal::traits<Coefficients>::Alignment,
      |                                                 ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/arch/Geometry_SIMD.h:98:47:   required from here
   98 |     ResAlignment = traits<Quaternion<double> >::Alignment
      |                                               ^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:44: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:208:88: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  208 |   typedef typename find_best_packet_helper<Size,typename packet_traits<T>::type>::type type;
      |                                                                                        ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 1>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 1>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 1>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 4, 1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 4, 1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 4, 1> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<double, 4, 1>’
  178 | class Matrix
      |       ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:46:50:   required from ‘class Eigen::QuaternionBase<Eigen::Quaternion<double> >’
   46 |   typedef typename Coefficients::CoeffReturnType CoeffReturnType;
      |                                                  ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:273:7:   required from ‘class Eigen::Quaternion<double>’
  273 | class Quaternion : public QuaternionBase<Quaternion<_Scalar,_Options> >
      |       ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/arch/Geometry_SIMD.h:102:3:   required from here
  102 |   {
      |   ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
In file included from /home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/SparseCore:37,
                 from /home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/Sparse:26,
                 from /home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/RcppEigenForward.h:29:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SparseCore/SparseMatrixBase.h: In instantiation of ‘class Eigen::SparseMatrixBase<Eigen::SparseMatrix<double, 0, int> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SparseCore/SparseCompressedBase.h:36:7:   required from ‘class Eigen::SparseCompressedBase<Eigen::SparseMatrix<double, 0, int> >’
   36 | class SparseCompressedBase
      |       ^~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SparseCore/SparseMatrix.h:96:7:   required from ‘class Eigen::SparseMatrix<double, 0, int>’
   96 | class SparseMatrix
      |       ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/unsupported/Eigen/src/IterativeSolvers/ConstrainedConjGrad.h:61:25:   required from here
   61 |   typedef Triplet<double> T;
      |                         ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SparseCore/SparseMatrixBase.h:47:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   47 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of ‘struct Eigen::internal::find_best_packet<double, -1>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:22:57:   required from ‘struct Eigen::internal::traits<Eigen::Matrix<double, -1, 1> >’
   22 |   typedef typename find_best_packet<_Scalar,size>::type PacketScalar;
      |                                                         ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, -1, 1> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<double, -1, 1>’
  178 | class Matrix
      |       ^~~~~~
imuf.cpp:9:41:   required from here
    9 | VectorXd numericVecToVec(NumericVector v) {
      |                                         ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:44: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:208:88: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  208 |   typedef typename find_best_packet_helper<Size,typename packet_traits<T>::type>::type type;
      |                                                                                        ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, 1>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, 1>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, 1>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, -1, 1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, -1, 1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, -1, 1> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<double, -1, 1>’
  178 | class Matrix
      |       ^~~~~~
imuf.cpp:9:41:   required from here
    9 | VectorXd numericVecToVec(NumericVector v) {
      |                                         ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:38:28:   required from ‘struct Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 4, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> > > >’
   38 |                    >::type Scalar;
      |                            ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 4, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 4, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
imuf.cpp:34:40:   required from here
   34 |   Quaternion<double> qout(q.coeffs() * d);
      |                                        ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 4, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> > >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 4, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> > > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 4, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> > > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 4, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 4, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
imuf.cpp:34:40:   required from here
   34 |   Quaternion<double> qout(q.coeffs() * d);
      |                                        ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of ‘struct Eigen::internal::find_best_packet<double, 3>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:22:57:   required from ‘struct Eigen::internal::traits<Eigen::Matrix<double, 3, 1> >’
   22 |   typedef typename find_best_packet<_Scalar,size>::type PacketScalar;
      |                                                         ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 1> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<double, 3, 1>’
  178 | class Matrix
      |       ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/AngleAxis.h:66:11:   required from ‘class Eigen::AngleAxis<double>’
   66 |   Vector3 m_axis;
      |           ^~~~~~
imuf.cpp:34:41:   required from here
   34 |   Quaternion<double> qout(q.coeffs() * d);
      |                                         ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:44: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:208:88: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  208 |   typedef typename find_best_packet_helper<Size,typename packet_traits<T>::type>::type type;
      |                                                                                        ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 1>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 1>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 1>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 3, 1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 3, 1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 1> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<double, 3, 1>’
  178 | class Matrix
      |       ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/AngleAxis.h:66:11:   required from ‘class Eigen::AngleAxis<double>’
   66 |   Vector3 m_axis;
      |           ^~~~~~
imuf.cpp:34:41:   required from here
   34 |   Quaternion<double> qout(q.coeffs() * d);
      |                                         ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of ‘struct Eigen::internal::find_best_packet<double, 9>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:22:57:   required from ‘struct Eigen::internal::traits<Eigen::Matrix<double, 3, 3> >’
   22 |   typedef typename find_best_packet<_Scalar,size>::type PacketScalar;
      |                                                         ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DiagonalMatrix.h:129:8:   required from ‘struct Eigen::internal::traits<Eigen::DiagonalMatrix<double, 3> >’
  129 | struct traits<DiagonalMatrix<_Scalar,SizeAtCompileTime,MaxSizeAtCompileTime> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/EigenBase.h:42:59:   required from ‘struct Eigen::EigenBase<Eigen::DiagonalMatrix<double, 3> >’
   42 |   typedef typename internal::traits<Derived>::StorageKind StorageKind;
      |                                                           ^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DiagonalMatrix.h:18:7:   required from ‘class Eigen::DiagonalBase<Eigen::DiagonalMatrix<double, 3> >’
   18 | class DiagonalBase : public EigenBase<Derived>
      |       ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DiagonalMatrix.h:140:7:   required from ‘class Eigen::DiagonalMatrix<double, 3>’
  140 | class DiagonalMatrix
      |       ^~~~~~~~~~~~~~
imuf.cpp:85:25:   required from here
   85 |     qt1 = qt * cos(delta) + qt * 1 / gyrQuatNorm * sin(delta) * gyrQuat;
      |                         ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:44: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:208:88: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  208 |   typedef typename find_best_packet_helper<Size,typename packet_traits<T>::type>::type type;
      |                                                                                        ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, const Eigen::Matrix<double, 4, 1> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, const Eigen::Matrix<double, 4, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, const Eigen::Matrix<double, 4, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, const Eigen::Matrix<double, 4, 1>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, const Eigen::Matrix<double, 4, 1> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:809:36:   required from ‘Eigen::Quaternion<typename Eigen::internal::traits<T>::Scalar> Eigen::QuaternionBase<Derived>::slerp(const Scalar&, const Eigen::QuaternionBase<OtherDerived>&) const [with OtherDerived = Eigen::Quaternion<double>; Derived = Eigen::Quaternion<double>; typename Eigen::internal::traits<T>::Scalar = double; Scalar = double]’
  809 |   return Quaternion<Scalar>(scale0 * coeffs() + scale1 * other.coeffs());
      |                             ~~~~~~~^~~~~~~~~~
imuf.cpp:97:38:   required from here
   97 |   Quaternion<double> qout = qt1.slerp(gain, qAdj * qt1);
      |                             ~~~~~~~~~^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, const Eigen::Matrix<double, 4, 1> >, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, const Eigen::Matrix<double, 4, 1> > >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, const Eigen::Matrix<double, 4, 1> >, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, const Eigen::Matrix<double, 4, 1> > > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, const Eigen::Matrix<double, 4, 1> >, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, const Eigen::Matrix<double, 4, 1> > > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_sum_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, const Eigen::Matrix<double, 4, 1> >, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, const Eigen::Matrix<double, 4, 1> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, const Eigen::Matrix<double, 4, 1> >, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, const Eigen::Matrix<double, 4, 1> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:809:47:   required from ‘Eigen::Quaternion<typename Eigen::internal::traits<T>::Scalar> Eigen::QuaternionBase<Derived>::slerp(const Scalar&, const Eigen::QuaternionBase<OtherDerived>&) const [with OtherDerived = Eigen::Quaternion<double>; Derived = Eigen::Quaternion<double>; typename Eigen::internal::traits<T>::Scalar = double; Scalar = double]’
  809 |   return Quaternion<Scalar>(scale0 * coeffs() + scale1 * other.coeffs());
      |                             ~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~
imuf.cpp:97:38:   required from here
   97 |   Quaternion<double> qout = qt1.slerp(gain, qAdj * qt1);
      |                             ~~~~~~~~~^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Matrix<double, 4, 1>, 3, 1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Matrix<double, 4, 1>, 3, 1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Matrix<double, 4, 1>, 3, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Matrix<double, 4, 1>, 3, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Matrix<double, 4, 1>, 3, 1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Matrix<double, 4, 1>, 3, 1, false, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   required from ‘class Eigen::BlockImpl<const Eigen::Matrix<double, 4, 1>, 3, 1, false, Eigen::Dense>’
  154 | class BlockImpl<XprType, BlockRows, BlockCols, InnerPanel, Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:103:81:   required from ‘class Eigen::Block<const Eigen::Matrix<double, 4, 1>, 3, 1, false>’
  103 | template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class Block
      |                                                                                 ^~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/VectorBlock.h:56:47:   required from ‘class Eigen::VectorBlock<const Eigen::Matrix<double, 4, 1>, 3>’
   56 | template<typename VectorType, int Size> class VectorBlock
      |                                               ^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:538:27:   required from ‘Eigen::QuaternionBase<Derived>::Vector3 Eigen::QuaternionBase<Derived>::_transformVector(const Vector3&) const [with Derived = Eigen::Quaternion<double>; Vector3 = Eigen::Matrix<double, 3, 1>]’
  538 |     Vector3 uv = this->vec().cross(v);
      |                  ~~~~~~~~~^~
imuf.cpp:123:43:   required from here
  123 |   const VectorXd vout = q._transformVector(v);
      |                         ~~~~~~~~~~~~~~~~~~^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:38:28:   required from ‘struct Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1> > >’
   38 |                    >::type Scalar;
      |                            ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:540:26:   required from ‘Eigen::QuaternionBase<Derived>::Vector3 Eigen::QuaternionBase<Derived>::_transformVector(const Vector3&) const [with Derived = Eigen::Quaternion<double>; Vector3 = Eigen::Matrix<double, 3, 1>]’
  540 |     return v + this->w() * uv + this->vec().cross(uv);
      |                ~~~~~~~~~~^~~~
imuf.cpp:123:43:   required from here
  123 |   const VectorXd vout = q._transformVector(v);
      |                         ~~~~~~~~~~~~~~~~~~^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:540:26:   required from ‘Eigen::QuaternionBase<Derived>::Vector3 Eigen::QuaternionBase<Derived>::_transformVector(const Vector3&) const [with Derived = Eigen::Quaternion<double>; Vector3 = Eigen::Matrix<double, 3, 1>]’
  540 |     return v + this->w() * uv + this->vec().cross(uv);
      |                ~~~~~~~~~~^~~~
imuf.cpp:123:43:   required from here
  123 |   const VectorXd vout = q._transformVector(v);
      |                         ~~~~~~~~~~~~~~~~~~^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1> > >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1> > > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1> > > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_sum_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:540:14:   required from ‘Eigen::QuaternionBase<Derived>::Vector3 Eigen::QuaternionBase<Derived>::_transformVector(const Vector3&) const [with Derived = Eigen::Quaternion<double>; Vector3 = Eigen::Matrix<double, 3, 1>]’
  540 |     return v + this->w() * uv + this->vec().cross(uv);
      |            ~~^~~~~~~~~~~~~~~~
imuf.cpp:123:43:   required from here
  123 |   const VectorXd vout = q._transformVector(v);
      |                         ~~~~~~~~~~~~~~~~~~^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1> > >, const Eigen::Matrix<double, 3, 1> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1> > >, const Eigen::Matrix<double, 3, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1> > >, const Eigen::Matrix<double, 3, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_sum_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1> > >, const Eigen::Matrix<double, 3, 1>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1> > >, const Eigen::Matrix<double, 3, 1> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:540:31:   required from ‘Eigen::QuaternionBase<Derived>::Vector3 Eigen::QuaternionBase<Derived>::_transformVector(const Vector3&) const [with Derived = Eigen::Quaternion<double>; Vector3 = Eigen::Matrix<double, 3, 1>]’
  540 |     return v + this->w() * uv + this->vec().cross(uv);
      |            ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
imuf.cpp:123:43:   required from here
  123 |   const VectorXd vout = q._transformVector(v);
      |                         ~~~~~~~~~~~~~~~~~~^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of ‘struct Eigen::internal::find_best_packet<double, 6>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:22:57:   required from ‘struct Eigen::internal::traits<Eigen::Matrix<double, 2, 3, 0, 2, 3> >’
   22 |   typedef typename find_best_packet<_Scalar,size>::type PacketScalar;
      |                                                         ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 2, 3, 0, 2, 3> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<double, 2, 3, 0, 2, 3>’
  178 | class Matrix
      |       ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:656:24:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  656 |     Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
      |                        ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:44: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:208:88: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  208 |   typedef typename find_best_packet_helper<Size,typename packet_traits<T>::type>::type type;
      |                                                                                        ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 2, 3, 0, 2, 3> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 2, 3, 0, 2, 3> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 2, 3, 0, 2, 3> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<double, 2, 3, 0, 2, 3>’
  178 | class Matrix
      |       ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:656:24:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  656 |     Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
      |                        ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<Eigen::Matrix<double, 3, 1> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<Eigen::Matrix<double, 3, 1> >, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<Eigen::Matrix<double, 3, 1> >, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<Eigen::Matrix<double, 3, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<Eigen::Matrix<double, 3, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<Eigen::Matrix<double, 3, 1>, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from ‘class Eigen::Transpose<Eigen::Matrix<double, 3, 1> >’
   52 | template<typename MatrixType> class Transpose
      |                                     ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:656:44:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  656 |     Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
      |                                ~~~~~~~~~~~~^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 2>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 2>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 2>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 2, 2> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 2, 2> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 2, 2> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<double, 2, 2>’
  178 | class Matrix
      |       ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/SVDBase.h:272:15:   required from ‘class Eigen::SVDBase<Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2> >’
  272 |   MatrixUType m_matrixU;
      |               ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:488:60:   required from ‘class Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2>’
  488 | template<typename _MatrixType, int QRPreconditioner> class JacobiSVD
      |                                                            ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 3>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 3>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 3>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 3, 3> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 3, 3> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 3> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<double, 3, 3>’
  178 | class Matrix
      |       ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/SVDBase.h:273:15:   required from ‘class Eigen::SVDBase<Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2> >’
  273 |   MatrixVType m_matrixV;
      |               ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:488:60:   required from ‘class Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2>’
  488 | template<typename _MatrixType, int QRPreconditioner> class JacobiSVD
      |                                                            ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of ‘struct Eigen::internal::find_best_packet<double, 2>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:22:57:   required from ‘struct Eigen::internal::traits<Eigen::Matrix<double, 2, 1> >’
   22 |   typedef typename find_best_packet<_Scalar,size>::type PacketScalar;
      |                                                         ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 2, 1> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<double, 2, 1>’
  178 | class Matrix
      |       ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/SVDBase.h:274:22:   required from ‘class Eigen::SVDBase<Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2> >’
  274 |   SingularValuesType m_singularValues;
      |                      ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:488:60:   required from ‘class Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2>’
  488 | template<typename _MatrixType, int QRPreconditioner> class JacobiSVD
      |                                                            ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:44: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:208:88: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  208 |   typedef typename find_best_packet_helper<Size,typename packet_traits<T>::type>::type type;
      |                                                                                        ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 1>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 1>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 1>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 2, 1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 2, 1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 2, 1> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<double, 2, 1>’
  178 | class Matrix
      |       ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/SVDBase.h:274:22:   required from ‘class Eigen::SVDBase<Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2> >’
  274 |   SingularValuesType m_singularValues;
      |                      ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:488:60:   required from ‘class Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2>’
  488 | template<typename _MatrixType, int QRPreconditioner> class JacobiSVD
      |                                                            ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 3, 2, 0, 3, 2> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 3, 2, 0, 3, 2> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/QR/ColPivHouseholderQR.h:62:42:   required from ‘class Eigen::ColPivHouseholderQR<Eigen::Matrix<double, 3, 2, 0, 3, 2> >’
   62 |       MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
      |                                          ^~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:246:10:   required from ‘struct Eigen::internal::qr_preconditioner_impl<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2, 0, true>’
  246 |   QRType m_qr;
      |          ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:609:110:   required from ‘class Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2>’
  609 |     internal::qr_preconditioner_impl<MatrixType, QRPreconditioner, internal::PreconditionIfMoreColsThanRows> m_qr_precond_morecols;
      |                                                                                                              ^~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, 2>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, 2>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, 2>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 1, 2> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 1, 2> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/QR/ColPivHouseholderQR.h:440:19:   required from ‘class Eigen::ColPivHouseholderQR<Eigen::Matrix<double, 3, 2, 0, 3, 2> >’
  440 |     RowVectorType m_temp;
      |                   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:246:10:   required from ‘struct Eigen::internal::qr_preconditioner_impl<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2, 0, true>’
  246 |   QRType m_qr;
      |          ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:609:110:   required from ‘class Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2>’
  609 |     internal::qr_preconditioner_impl<MatrixType, QRPreconditioner, internal::PreconditionIfMoreColsThanRows> m_qr_precond_morecols;
      |                                                                                                              ^~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, 3>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, 3>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, 3>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 1, 3> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 1, 3> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 1, 3> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<double, 1, 3>’
  178 | class Matrix
      |       ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:248:55:   required from ‘struct Eigen::internal::qr_preconditioner_impl<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2, 0, true>’
  248 |   typename internal::plain_row_type<MatrixType>::type m_workspace;
      |                                                       ^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:609:110:   required from ‘class Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2>’
  609 |     internal::qr_preconditioner_impl<MatrixType, QRPreconditioner, internal::PreconditionIfMoreColsThanRows> m_qr_precond_morecols;
      |                                                                                                              ^~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Matrix<double, 3, 3>, 3, 1, true, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   required from ‘class Eigen::BlockImpl<const Eigen::Matrix<double, 3, 3>, 3, 1, true, Eigen::Dense>’
  154 | class BlockImpl<XprType, BlockRows, BlockCols, InnerPanel, Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:103:81:   required from ‘class Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true>’
  103 | template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class Block
      |                                                                                 ^~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:658:37:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  658 |     Vector3 axis = svd.matrixV().col(2);
      |                    ~~~~~~~~~~~~~~~~~^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   required from ‘class Eigen::BlockImpl<Eigen::Matrix<double, 4, 1>, 3, 1, false, Eigen::Dense>’
  154 | class BlockImpl<XprType, BlockRows, BlockCols, InnerPanel, Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:103:81:   required from ‘class Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false>’
  103 | template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class Block
      |                                                                                 ^~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/VectorBlock.h:56:47:   required from ‘class Eigen::VectorBlock<Eigen::Matrix<double, 4, 1>, 3>’
   56 | template<typename VectorType, int Size> class VectorBlock
      |                                               ^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:662:14:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  662 |     this->vec() = axis * sqrt(Scalar(1) - w2);
      |     ~~~~~~~~~^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> > >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> > > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> > > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:662:24:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  662 |     this->vec() = axis * sqrt(Scalar(1) - w2);
      |                   ~~~~~^~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
In file included from /home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/Core:277:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Matrix<double, 4, 1>, 3, 1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:372:102:   required from ‘struct Eigen::internal::plain_object_eval<Eigen::Block<const Eigen::Matrix<double, 4, 1>, 3, 1, false>, Eigen::Dense>’
  372 |   typedef typename plain_matrix_type_dense<T,typename traits<T>::XprKind, evaluator<T>::Flags>::type type;
      |                                                                                                      ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/OrthoMethods.h:42:51:   required from ‘typename Eigen::MatrixBase<Derived>::cross_product_return_type<OtherDerived>::type Eigen::MatrixBase<Derived>::cross(const Eigen::MatrixBase<OtherDerived>&) const [with OtherDerived = Eigen::Matrix<double, 3, 1>; Derived = Eigen::Block<const Eigen::Matrix<double, 4, 1>, 3, 1, false>; typename cross_product_return_type<OtherDerived>::type = Eigen::Matrix<double, 3, 1>]’
   42 |   typename internal::nested_eval<Derived,2>::type lhs(derived());
      |                                                   ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:538:35:   required from ‘Eigen::QuaternionBase<Derived>::Vector3 Eigen::QuaternionBase<Derived>::_transformVector(const Vector3&) const [with Derived = Eigen::Quaternion<double>; Vector3 = Eigen::Matrix<double, 3, 1>]’
  538 |     Vector3 uv = this->vec().cross(v);
      |                  ~~~~~~~~~~~~~~~~~^~~
imuf.cpp:123:43:   required from here
  123 |   const VectorXd vout = q._transformVector(v);
      |                         ~~~~~~~~~~~~~~~~~~^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Matrix<double, 4, 1> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Matrix<double, 4, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Matrix<double, 4, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseUnaryOp.h:94:7:   required from ‘class Eigen::CwiseUnaryOpImpl<Eigen::internal::scalar_abs2_op<double>, const Eigen::Matrix<double, 4, 1>, Eigen::Dense>’
   94 | class CwiseUnaryOpImpl
      |       ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseUnaryOp.h:55:7:   required from ‘class Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Matrix<double, 4, 1> >’
   55 | class CwiseUnaryOp : public CwiseUnaryOpImpl<UnaryOp, XprType, typename internal::traits<XprType>::StorageKind>, internal::no_assignment_operator
      |       ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Dot.h:98:40:   required from ‘typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real Eigen::MatrixBase<Derived>::squaredNorm() const [with Derived = Eigen::Matrix<double, 4, 1>; typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real = double; typename Eigen::internal::traits<T>::Scalar = double]’
   98 |   return numext::real((*this).cwiseAbs2().sum());
      |                       ~~~~~~~~~~~~~~~~~^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Dot.h:110:23:   required from ‘typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real Eigen::MatrixBase<Derived>::norm() const [with Derived = Eigen::Matrix<double, 4, 1>; typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real = double; typename Eigen::internal::traits<T>::Scalar = double]’
  110 |   return numext::sqrt(squaredNorm());
      |                       ^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:125:70:   required from ‘Eigen::QuaternionBase<Derived>::Scalar Eigen::QuaternionBase<Derived>::norm() const [with Derived = Eigen::Quaternion<double>; Scalar = double]’
  125 |   EIGEN_DEVICE_FUNC inline Scalar norm() const { return coeffs().norm(); }
      |                                                         ~~~~~~~~~~~~~^~
imuf.cpp:79:42:   required from here
   79 |   const double gyrQuatNorm = gyrQuat.norm();
      |                              ~~~~~~~~~~~~^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 4, 1> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 4, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 4, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 4, 1> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/SelfCwiseBinaryOp.h:41:67:   required from ‘Derived& Eigen::DenseBase<Derived>::operator/=(const Scalar&) [with Derived = Eigen::Matrix<double, 4, 1>; Scalar = double]’
   41 |   internal::call_assignment(this->derived(), PlainObject::Constant(rows(),cols(),other), internal::div_assign_op<Scalar,Scalar>());
      |                                              ~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Dot.h:150:15:   required from ‘void Eigen::MatrixBase<Derived>::normalize() [with Derived = Eigen::Matrix<double, 4, 1>]’
  150 |     derived() /= numext::sqrt(z);
      |     ~~~~~~~~~~^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:129:65:   required from ‘void Eigen::QuaternionBase<Derived>::normalize() [with Derived = Eigen::Quaternion<double>]’
  129 |   EIGEN_DEVICE_FUNC inline void normalize() { coeffs().normalize(); }
      |                                               ~~~~~~~~~~~~~~~~~~^~
imuf.cpp:87:16:   required from here
   87 |   qt1.normalize();
      |   ~~~~~~~~~~~~~^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:38:28:   required from ‘struct Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Matrix<double, -1, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1> > > >’
   38 |                    >::type Scalar;
      |                            ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Matrix<double, -1, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Matrix<double, -1, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Dot.h:131:14:   required from ‘const Eigen::MatrixBase<Derived>::PlainObject Eigen::MatrixBase<Derived>::normalized() const [with Derived = Eigen::Matrix<double, -1, 1>; PlainObject = Eigen::Matrix<double, -1, 1>]’
  131 |     return n / numext::sqrt(z);
      |            ~~^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:641:28:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  641 |   Vector3 v0 = a.normalized();
      |                ~~~~~~~~~~~~^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Matrix<double, -1, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1> > >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Matrix<double, -1, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1> > > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Matrix<double, -1, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1> > > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Matrix<double, -1, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Matrix<double, -1, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Dot.h:131:14:   required from ‘const Eigen::MatrixBase<Derived>::PlainObject Eigen::MatrixBase<Derived>::normalized() const [with Derived = Eigen::Matrix<double, -1, 1>; PlainObject = Eigen::Matrix<double, -1, 1>]’
  131 |     return n / numext::sqrt(z);
      |            ~~^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:641:28:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  641 |   Vector3 v0 = a.normalized();
      |                ~~~~~~~~~~~~^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1, 3, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1, 3, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1, 3, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1, 3, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1, 3, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1, 3, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   required from ‘class Eigen::BlockImpl<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1, 3, false, Eigen::Dense>’
  154 | class BlockImpl<XprType, BlockRows, BlockCols, InnerPanel, Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:103:81:   required from ‘class Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1, 3, false>’
  103 | template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class Block
      |                                                                                 ^~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CommaInitializer.h:99:21:   required from ‘Eigen::CommaInitializer<MatrixType>& Eigen::CommaInitializer<MatrixType>::operator,(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >; XprType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
   98 |     m_xpr.template block<OtherDerived::RowsAtCompileTime, OtherDerived::ColsAtCompileTime>
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   99 |                     (m_row, m_col, other.rows(), other.cols()) = other;
      |                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:656:46:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  656 |     Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
      |                           ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Matrix<double, -1, 1> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Matrix<double, -1, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Matrix<double, -1, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseUnaryOp.h:94:7:   required from ‘class Eigen::CwiseUnaryOpImpl<Eigen::internal::scalar_abs2_op<double>, const Eigen::Matrix<double, -1, 1>, Eigen::Dense>’
   94 | class CwiseUnaryOpImpl
      |       ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseUnaryOp.h:55:7:   required from ‘class Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Matrix<double, -1, 1> >’
   55 | class CwiseUnaryOp : public CwiseUnaryOpImpl<UnaryOp, XprType, typename internal::traits<XprType>::StorageKind>, internal::no_assignment_operator
      |       ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Dot.h:98:40:   required from ‘typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real Eigen::MatrixBase<Derived>::squaredNorm() const [with Derived = Eigen::Matrix<double, -1, 1>; typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real = double; typename Eigen::internal::traits<T>::Scalar = double]’
   98 |   return numext::real((*this).cwiseAbs2().sum());
      |                       ~~~~~~~~~~~~~~~~~^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Dot.h:128:31:   required from ‘const Eigen::MatrixBase<Derived>::PlainObject Eigen::MatrixBase<Derived>::normalized() const [with Derived = Eigen::Matrix<double, -1, 1>; PlainObject = Eigen::Matrix<double, -1, 1>]’
  128 |   RealScalar z = n.squaredNorm();
      |                  ~~~~~~~~~~~~~^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:641:28:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  641 |   Vector3 v0 = a.normalized();
      |                ~~~~~~~~~~~~^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::Matrix<double, 3, 1> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::Matrix<double, 3, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::Matrix<double, 3, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::Matrix<double, 3, 1>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::Matrix<double, 3, 1> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Dot.h:37:44:   required from ‘static Eigen::internal::dot_nocheck<T, U, NeedToTranspose>::ResScalar Eigen::internal::dot_nocheck<T, U, NeedToTranspose>::run(const Eigen::MatrixBase<Derived>&, const Eigen::MatrixBase<U>&) [with T = Eigen::Matrix<double, 3, 1>; U = Eigen::Matrix<double, 3, 1>; bool NeedToTranspose = false; ResScalar = double]’
   37 |     return a.template binaryExpr<conj_prod>(b).sum();
      |            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Dot.h:84:58:   required from ‘typename Eigen::ScalarBinaryOpTraits<typename Eigen::internal::traits<T>::Scalar, typename Eigen::internal::traits<OtherDerived>::Scalar>::ReturnType Eigen::MatrixBase<Derived>::dot(const Eigen::MatrixBase<OtherDerived>&) const [with OtherDerived = Eigen::Matrix<double, 3, 1>; Derived = Eigen::Matrix<double, 3, 1>; typename Eigen::ScalarBinaryOpTraits<typename Eigen::internal::traits<T>::Scalar, typename Eigen::internal::traits<OtherDerived>::Scalar>::ReturnType = double; typename Eigen::internal::traits<T>::Scalar = double; typename Eigen::internal::traits<OtherDerived>::Scalar = double]’
   84 |   return internal::dot_nocheck<Derived,OtherDerived>::run(*this, other);
      |          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:643:20:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  643 |   Scalar c = v1.dot(v0);
      |              ~~~~~~^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:103:81:   required from ‘class Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>’
  103 | template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class Block
      |                                                                                 ^~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CommaInitializer.h:48:16:   required from ‘Eigen::CommaInitializer<MatrixType>::CommaInitializer(XprType&, const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >; XprType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
   48 |     m_xpr.block(0, 0, other.rows(), other.cols()) = other;
      |     ~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CommaInitializer.h:159:10:   required from ‘Eigen::CommaInitializer<Derived> Eigen::DenseBase<Derived>::operator<<(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >; Derived = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  159 |   return CommaInitializer<Derived>(*static_cast<Derived *>(this), other);
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:656:29:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  656 |     Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
      |                           ~~^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseUnaryOp.h:94:7:   required from ‘class Eigen::CwiseUnaryOpImpl<Eigen::internal::scalar_abs_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3>, Eigen::Dense>’
   94 | class CwiseUnaryOpImpl
      |       ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseUnaryOp.h:55:7:   required from ‘class Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3> >’
   55 | class CwiseUnaryOp : public CwiseUnaryOpImpl<UnaryOp, XprType, typename internal::traits<XprType>::StorageKind>, internal::no_assignment_operator
      |       ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:679:37:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  679 |   RealScalar scale = matrix.cwiseAbs().template maxCoeff<PropagateNaN>();
      |                      ~~~~~~~~~~~~~~~^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:38:28:   required from ‘struct Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3> > > >’
   38 |                    >::type Scalar;
      |                            ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:691:29:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  691 |     m_scaledMatrix = matrix / scale;
      |                      ~~~~~~~^~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3> > >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3> > > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3> > > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:691:29:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  691 |     m_scaledMatrix = matrix / scale;
      |                      ~~~~~~~^~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:103:81:   required from ‘class Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>’
  103 | template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class Block
      |                                                                                 ^~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:697:32:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  697 |     m_workMatrix = matrix.block(0,0,m_diagSize,m_diagSize) / scale;
      |                    ~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:38:28:   required from ‘struct Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> > > >’
   38 |                    >::type Scalar;
      |                            ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:697:60:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  697 |     m_workMatrix = matrix.block(0,0,m_diagSize,m_diagSize) / scale;
      |                    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> > >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> > > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> > > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:697:60:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  697 |     m_workMatrix = matrix.block(0,0,m_diagSize,m_diagSize) / scale;
      |                    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op<double>, const Eigen::Matrix<double, 2, 2> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op<double>, const Eigen::Matrix<double, 2, 2> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op<double>, const Eigen::Matrix<double, 2, 2> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseUnaryOp.h:94:7:   required from ‘class Eigen::CwiseUnaryOpImpl<Eigen::internal::scalar_abs_op<double>, const Eigen::Matrix<double, 2, 2>, Eigen::Dense>’
   94 | class CwiseUnaryOpImpl
      |       ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseUnaryOp.h:55:7:   required from ‘class Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op<double>, const Eigen::Matrix<double, 2, 2> >’
   55 | class CwiseUnaryOp : public CwiseUnaryOpImpl<UnaryOp, XprType, typename internal::traits<XprType>::StorageKind>, internal::no_assignment_operator
      |       ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:705:50:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  705 |   RealScalar maxDiagEntry = m_workMatrix.cwiseAbs().diagonal().maxCoeff();
      |                             ~~~~~~~~~~~~~~~~~~~~~^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Diagonal<const Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op<double>, const Eigen::Matrix<double, 2, 2> >, 0>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Diagonal<const Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op<double>, const Eigen::Matrix<double, 2, 2> >, 0> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Diagonal<const Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op<double>, const Eigen::Matrix<double, 2, 2> >, 0> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Diagonal.h:63:53:   required from ‘class Eigen::Diagonal<const Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op<double>, const Eigen::Matrix<double, 2, 2> >, 0>’
   63 | template<typename MatrixType, int _DiagIndex> class Diagonal
      |                                                     ^~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:705:61:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  705 |   RealScalar maxDiagEntry = m_workMatrix.cwiseAbs().diagonal().maxCoeff();
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:103:81:   required from ‘class Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true>’
  103 | template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class Block
      |                                                                                 ^~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:758:35:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  758 |       if(computeU()) m_matrixU.col(i) *= m_workMatrix.coeff(i,i)/a;
      |                      ~~~~~~~~~~~~~^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_opposite_op<double>, const Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_opposite_op<double>, const Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_opposite_op<double>, const Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseUnaryOp.h:94:7:   required from ‘class Eigen::CwiseUnaryOpImpl<Eigen::internal::scalar_opposite_op<double>, const Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true>, Eigen::Dense>’
   94 | class CwiseUnaryOpImpl
      |       ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseUnaryOp.h:55:7:   required from ‘class Eigen::CwiseUnaryOp<Eigen::internal::scalar_opposite_op<double>, const Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true> >’
   55 | class CwiseUnaryOp : public CwiseUnaryOpImpl<UnaryOp, XprType, typename internal::traits<XprType>::StorageKind>, internal::no_assignment_operator
      |       ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:765:62:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  765 |       if(computeU() && (a<RealScalar(0))) m_matrixU.col(i) = -m_matrixU.col(i);
      |                                                              ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, 1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, 1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, 1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, 1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/VectorBlock.h:56:47:   required from ‘class Eigen::VectorBlock<Eigen::Matrix<double, 2, 1>, -1>’
   56 | template<typename VectorType, int Size> class VectorBlock
      |                                               ^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:777:65:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  777 |     RealScalar maxRemainingSingularValue = m_singularValues.tail(m_diagSize-i).maxCoeff(&pos);
      |                                            ~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:103:81:   required from ‘class Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>’
  103 | template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class Block
      |                                                                                 ^~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:788:35:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  788 |       if(computeV()) m_matrixV.col(pos).swap(m_matrixV.col(i));
      |                      ~~~~~~~~~~~~~^~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 4, 1>, const Eigen::Matrix<double, 4, 1> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 4, 1>, const Eigen::Matrix<double, 4, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 4, 1>, const Eigen::Matrix<double, 4, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 4, 1>, const Eigen::Matrix<double, 4, 1>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 4, 1>, const Eigen::Matrix<double, 4, 1> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Dot.h:37:44:   required from ‘static Eigen::internal::dot_nocheck<T, U, NeedToTranspose>::ResScalar Eigen::internal::dot_nocheck<T, U, NeedToTranspose>::run(const Eigen::MatrixBase<Derived>&, const Eigen::MatrixBase<U>&) [with T = Eigen::Matrix<double, 4, 1>; U = Eigen::Matrix<double, 4, 1>; bool NeedToTranspose = false; ResScalar = double]’
   37 |     return a.template binaryExpr<conj_prod>(b).sum();
      |            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Dot.h:84:58:   required from ‘typename Eigen::ScalarBinaryOpTraits<typename Eigen::internal::traits<T>::Scalar, typename Eigen::internal::traits<OtherDerived>::Scalar>::ReturnType Eigen::MatrixBase<Derived>::dot(const Eigen::MatrixBase<OtherDerived>&) const [with OtherDerived = Eigen::Matrix<double, 4, 1>; Derived = Eigen::Matrix<double, 4, 1>; typename Eigen::ScalarBinaryOpTraits<typename Eigen::internal::traits<T>::Scalar, typename Eigen::internal::traits<OtherDerived>::Scalar>::ReturnType = double; typename Eigen::internal::traits<T>::Scalar = double; typename Eigen::internal::traits<OtherDerived>::Scalar = double]’
   84 |   return internal::dot_nocheck<Derived,OtherDerived>::run(*this, other);
      |          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:139:138:   required from ‘Eigen::QuaternionBase<Derived>::Scalar Eigen::QuaternionBase<Derived>::dot(const Eigen::QuaternionBase<OtherDerived>&) const [with OtherDerived = Eigen::Quaternion<double>; Derived = Eigen::Quaternion<double>; Scalar = double]’
  139 |   template<class OtherDerived> EIGEN_DEVICE_FUNC inline Scalar dot(const QuaternionBase<OtherDerived>& other) const { return coeffs().dot(other.coeffs()); }
      |                                                                                                                              ~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:787:23:   required from ‘Eigen::Quaternion<typename Eigen::internal::traits<T>::Scalar> Eigen::QuaternionBase<Derived>::slerp(const Scalar&, const Eigen::QuaternionBase<OtherDerived>&) const [with OtherDerived = Eigen::Quaternion<double>; Derived = Eigen::Quaternion<double>; typename Eigen::internal::traits<T>::Scalar = double; Scalar = double]’
  787 |   Scalar d = this->dot(other);
      |              ~~~~~~~~~^~~~~~~
imuf.cpp:97:38:   required from here
   97 |   Quaternion<double> qout = qt1.slerp(gain, qAdj * qt1);
      |                             ~~~~~~~~~^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Matrix<double, 2, 3, 0, 2, 3> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Matrix<double, 2, 3, 0, 2, 3> >, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<const Eigen::Matrix<double, 2, 3, 0, 2, 3> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<const Eigen::Matrix<double, 2, 3, 0, 2, 3> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from ‘class Eigen::Transpose<const Eigen::Matrix<double, 2, 3, 0, 2, 3> >’
   52 | template<typename MatrixType> class Transpose
      |                                     ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:228:33:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  228 |       m_adjoint = matrix.adjoint();
      |                   ~~~~~~~~~~~~~~^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:231:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  231 |       svd.m_workMatrix = m_qr.matrixQR().block(0,0,matrix.rows(),matrix.rows()).template triangularView<Upper>().adjoint();
      |                          ~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from ‘class Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >’
   52 | template<typename MatrixType> class Transpose
      |                                     ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/TriangularMatrix.h:175:44:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:231:121:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  231 |       svd.m_workMatrix = m_qr.matrixQR().block(0,0,matrix.rows(),matrix.rows()).template triangularView<Upper>().adjoint();
      |                          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 2>, 1, 2, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 2>, 1, 2, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 2>, 1, 2, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, 2, 2>, 1, 2, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, 2, 2>, 1, 2, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Matrix<double, 2, 2>, 1, 2, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Jacobi/Jacobi.h:297:10:   required from ‘void Eigen::MatrixBase<Derived>::applyOnTheLeft(Eigen::Index, Eigen::Index, const Eigen::JacobiRotation<OtherScalar>&) [with OtherScalar = double; Derived = Eigen::Matrix<double, 2, 2>; Eigen::Index = long int]’
  297 |   RowXpr x(this->row(p));
      |          ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:733:40:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  733 |             m_workMatrix.applyOnTheLeft(p,q,j_left);
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 2, 1> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 2, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 2, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 2, 1> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/SelfCwiseBinaryOp.h:20:67:   required from ‘Derived& Eigen::DenseBase<Derived>::operator*=(const Scalar&) [with Derived = Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true>; Scalar = double]’
   20 |   internal::call_assignment(this->derived(), PlainObject::Constant(rows(),cols(),other), internal::mul_assign_op<Scalar,Scalar>());
      |                                              ~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:758:39:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  758 |       if(computeU()) m_matrixU.col(i) *= m_workMatrix.coeff(i,i)/a;
      |                      ~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Diagonal<Eigen::Matrix<double, 3, 3>, 0>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Diagonal<Eigen::Matrix<double, 3, 3>, 0>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Diagonal<Eigen::Matrix<double, 3, 3>, 0>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Diagonal<Eigen::Matrix<double, 3, 3>, 0> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Diagonal<Eigen::Matrix<double, 3, 3>, 0> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Diagonal.h:63:53:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, -1, 1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, -1, 1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, -1, 1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, -1, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, -1, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, -1, 1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Matrix<double, 2, 1>, -1, 1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Matrix<double, 2, 1>, -1, 1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Matrix<double, 2, 1>, -1, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Matrix<double, 2, 1>, -1, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Matrix<double, 2, 1>, -1, 1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Matrix<double, 2, 1>, -1, 1, false, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 2, 2>, 1, 2, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Jacobi/Jacobi.h:475:5:   required from ‘void Eigen::internal::apply_rotation_in_the_plane(Eigen::DenseBase<Derived>&, Eigen::DenseBase<Derived>&, const Eigen::JacobiRotation<OtherScalar>&) [with VectorX = Eigen::Block<Eigen::Matrix<double, 2, 2>, 1, 2, false>; VectorY = Eigen::Block<Eigen::Matrix<double, 2, 2>, 1, 2, false>; OtherScalar = double]’
  475 |     EIGEN_PLAIN_ENUM_MIN(evaluator<VectorX>::Alignment, evaluator<VectorY>::Alignment),
      |                                              ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Jacobi/Jacobi.h:299:40:   required from ‘void Eigen::MatrixBase<Derived>::applyOnTheLeft(Eigen::Index, Eigen::Index, const Eigen::JacobiRotation<OtherScalar>&) [with OtherScalar = double; Derived = Eigen::Matrix<double, 2, 2>; Eigen::Index = long int]’
  299 |   internal::apply_rotation_in_the_plane(x, y, j);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:733:40:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  733 |             m_workMatrix.applyOnTheLeft(p,q,j_left);
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Jacobi/Jacobi.h:475:5:   required from ‘void Eigen::internal::apply_rotation_in_the_plane(Eigen::DenseBase<Derived>&, Eigen::DenseBase<Derived>&, const Eigen::JacobiRotation<OtherScalar>&) [with VectorX = Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true>; VectorY = Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true>; OtherScalar = double]’
  475 |     EIGEN_PLAIN_ENUM_MIN(evaluator<VectorX>::Alignment, evaluator<VectorY>::Alignment),
      |                                              ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Jacobi/Jacobi.h:315:40:   required from ‘void Eigen::MatrixBase<Derived>::applyOnTheRight(Eigen::Index, Eigen::Index, const Eigen::JacobiRotation<OtherScalar>&) [with OtherScalar = double; Derived = Eigen::Matrix<double, 2, 2>; Eigen::Index = long int]’
  315 |   internal::apply_rotation_in_the_plane(x, y, j.transpose());
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:734:53:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  734 |             if(computeU()) m_matrixU.applyOnTheRight(p,q,j_left.transpose());
      |                            ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Jacobi/Jacobi.h:475:5:   required from ‘void Eigen::internal::apply_rotation_in_the_plane(Eigen::DenseBase<Derived>&, Eigen::DenseBase<Derived>&, const Eigen::JacobiRotation<OtherScalar>&) [with VectorX = Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>; VectorY = Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>; OtherScalar = double]’
  475 |     EIGEN_PLAIN_ENUM_MIN(evaluator<VectorX>::Alignment, evaluator<VectorY>::Alignment),
      |                                              ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Jacobi/Jacobi.h:315:40:   required from ‘void Eigen::MatrixBase<Derived>::applyOnTheRight(Eigen::Index, Eigen::Index, const Eigen::JacobiRotation<OtherScalar>&) [with OtherScalar = double; Derived = Eigen::Matrix<double, 3, 3>; Eigen::Index = long int]’
  315 |   internal::apply_rotation_in_the_plane(x, y, j.transpose());
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:737:53:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  737 |             if(computeV()) m_matrixV.applyOnTheRight(p,q,j_right);
      |                            ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 1, 2>, 1, -1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 1, 2>, 1, -1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 1, 2>, 1, -1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, 1, 2>, 1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, 1, 2>, 1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Matrix<double, 1, 2>, 1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, 3, 3>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, 3, 3>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, 3, 3>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, -1, -1, 0, 3, 3> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, -1, -1, 0, 3, 3> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 0, 3, 3> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, -1, 1, 0, 3, 1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, -1, 1, 0, 3, 1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, -1, 1, 0, 3, 1> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 0>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 0> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 0> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 0, 3>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 0, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 0>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/Householder.h:167:27:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, 1, true>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, 1, true>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, 1, true>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, 1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, 1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, 1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:38:28:   required from ‘struct Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > > >’
   38 |                    >::type Scalar;
      |                            ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/Householder.h:169:25:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from ‘class Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >’
   52 | template<typename MatrixType> class Transpose
      |                                     ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/Householder.h:170:53:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >, Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 0>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >, Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 0> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >, Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 0> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >, Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 0, 4>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >, Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 0, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >, Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 0>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/Householder.h:170:34:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 1, -1, 1, 1, 3> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 1, -1, 1, 1, 3> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 1, -1, 1, 1, 3> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 0>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 0> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 0> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 0, 3>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 0, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 0>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/Householder.h:129:41:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 1, -1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 1, -1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 1, -1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:38:28:   required from ‘struct Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> > > >’
   38 |                    >::type Scalar;
      |                            ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> > >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> > > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> > > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/Householder.h:131:25:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/Householder.h:132:29:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 0>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 0> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 0> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 0, 4>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 0, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 0>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/Householder.h:132:41:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, -1, -1, 1, -1, -1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, -1, -1, 1, -1, -1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 1, -1, -1> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, 2, 3>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, 2, 3>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, -1, -1, 0, 2, 3> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, -1, -1, 0, 2, 3> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 0, 2, 3> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from ‘class Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >’
   52 | template<typename MatrixType> class Transpose
      |                                     ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/TriangularMatrix.h:175:44:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 6>, Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 0>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 6>, Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 0> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 6>, Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 0> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 6>, Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 0, 3>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 6>, Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 0, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 6>, Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 0>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/BlockHouseholder.h:99:96:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::TriangularView<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 2>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::TriangularView<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 2>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::TriangularView<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 2>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::TriangularView<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 2>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0, 3>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::TriangularView<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 2>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::TriangularView<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 2>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/BlockHouseholder.h:101:66:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from ‘class Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >’
   52 | template<typename MatrixType> class Transpose
      |                                     ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/TriangularMatrix.h:175:44:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::TriangularView<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, 1>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::TriangularView<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, 1>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::TriangularView<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, 1>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::TriangularView<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, 1>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0, 3>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::TriangularView<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, 1>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::TriangularView<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, 1>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/BlockHouseholder.h:102:66:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0, 3>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/BlockHouseholder.h:103:22:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 2, 2> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 2, 2> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 2, 2> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 2, 2> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:846:33:   required from ‘static Derived& Eigen::internal::setIdentity_impl<Derived, Big>::run(Derived&) [with Derived = Eigen::Matrix<double, 2, 2>; bool Big = false]’
  846 |     return m = Derived::Identity(m.rows(), m.cols());
      |                ~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:875:50:   required from ‘Derived& Eigen::MatrixBase<Derived>::setIdentity() [with Derived = Eigen::Matrix<double, 2, 2>]’
  875 |   return internal::setIdentity_impl<Derived>::run(derived());
      |          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:892:21:   required from ‘Derived& Eigen::MatrixBase<Derived>::setIdentity(Eigen::Index, Eigen::Index) [with Derived = Eigen::Matrix<double, 2, 2>; Eigen::Index = long int]’
  892 |   return setIdentity();
      |          ~~~~~~~~~~~^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:698:45:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  698 |     if(m_computeFullU) m_matrixU.setIdentity(m_rows,m_rows);
      |                        ~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 3, 3> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 3, 3> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 3, 3> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 3, 3> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:846:33:   required from ‘static Derived& Eigen::internal::setIdentity_impl<Derived, Big>::run(Derived&) [with Derived = Eigen::Matrix<double, 3, 3>; bool Big = false]’
  846 |     return m = Derived::Identity(m.rows(), m.cols());
      |                ~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:875:50:   required from ‘Derived& Eigen::MatrixBase<Derived>::setIdentity() [with Derived = Eigen::Matrix<double, 3, 3>]’
  875 |   return internal::setIdentity_impl<Derived>::run(derived());
      |          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:892:21:   required from ‘Derived& Eigen::MatrixBase<Derived>::setIdentity(Eigen::Index, Eigen::Index) [with Derived = Eigen::Matrix<double, 3, 3>; Eigen::Index = long int]’
  892 |   return setIdentity();
      |          ~~~~~~~~~~~^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:700:45:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  700 |     if(m_computeFullV) m_matrixV.setIdentity(m_cols,m_cols);
      |                        ~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, 1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Visitor.h:79:51:   required from ‘class Eigen::internal::visitor_evaluator<Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, 1, false> >’
   79 |     CoeffReadCost = internal::evaluator<XprType>::CoeffReadCost
      |                                                   ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Visitor.h:123:17:   required from ‘void Eigen::DenseBase<Derived>::visit(Visitor&) const [with Visitor = Eigen::internal::max_coeff_visitor<Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, 1, false>, 0>; Derived = Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, 1, false>]’
  123 |   ThisEvaluator thisEval(derived());
      |                 ^~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Visitor.h:374:14:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::maxCoeff(IndexType*) const [with int NaNPropagation = 0; IndexType = long int; Derived = Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, 1, false>; typename Eigen::internal::traits<T>::Scalar = double]’
  374 |   this->visit(maxVisitor);
      |   ~~~~~~~~~~~^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:501:37:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::maxCoeff(IndexType*) const [with IndexType = long int; Derived = Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, 1, false>; typename Eigen::internal::traits<T>::Scalar = double]’
  501 |       return maxCoeff<PropagateFast>(index);
      |              ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:777:88:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  777 |     RealScalar maxRemainingSingularValue = m_singularValues.tail(m_diagSize-i).maxCoeff(&pos);
      |                                            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘Eigen::Index Eigen::internal::first_default_aligned(const Eigen::DenseBase<Derived>&) [with Derived = Eigen::CwiseUnaryOp<scalar_abs2_op<double>, const Eigen::Matrix<double, -1, 1> >; Eigen::Index = long int]’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:243:63:   required from ‘static Eigen::internal::redux_impl<Func, Evaluator, 3, 0>::Scalar Eigen::internal::redux_impl<Func, Evaluator, 3, 0>::run(const Evaluator&, const Func&, const XprType&) [with XprType = Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Matrix<double, -1, 1> >; Func = Eigen::internal::scalar_sum_op<double, double>; Evaluator = Eigen::internal::redux_evaluator<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Matrix<double, -1, 1> > >; Scalar = double]’
  243 |     const Index alignedStart = internal::first_default_aligned(xpr);
      |                                ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:418:56:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::redux(const Func&) const [with BinaryOp = Eigen::internal::scalar_sum_op<double, double>; Derived = Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Matrix<double, -1, 1> >; typename Eigen::internal::traits<T>::Scalar = double]’
  418 |   return internal::redux_impl<Func, ThisEvaluator>::run(thisEval, func, derived());
      |          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::sum() const [with Derived = Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Matrix<double, -1, 1> >; typename Eigen::internal::traits<T>::Scalar = double]’
  463 |   return derived().redux(Eigen::internal::scalar_sum_op<Scalar,Scalar>());
      |          ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Dot.h:98:46:   required from ‘typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real Eigen::MatrixBase<Derived>::squaredNorm() const [with Derived = Eigen::Matrix<double, -1, 1>; typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real = double; typename Eigen::internal::traits<T>::Scalar = double]’
   98 |   return numext::real((*this).cwiseAbs2().sum());
      |                       ~~~~~~~~~~~~~~~~~~~~~~~^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Dot.h:128:31:   required from ‘const Eigen::MatrixBase<Derived>::PlainObject Eigen::MatrixBase<Derived>::normalized() const [with Derived = Eigen::Matrix<double, -1, 1>; PlainObject = Eigen::Matrix<double, -1, 1>]’
  128 |   RealScalar z = n.squaredNorm();
      |                  ~~~~~~~~~~~~~^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:641:28:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  641 |   Vector3 v0 = a.normalized();
      |                ~~~~~~~~~~~~^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:654:74: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  654 |   return internal::first_aligned<int(unpacket_traits<DefaultPacketType>::alignment),Derived>(m);
      |                                                                          ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, 3, 2>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, 3, 2>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, 3, 2>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, -1, -1, 0, 3, 2> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, -1, -1, 0, 3, 2> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 0, 3, 2> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 1, -1, 1, 1, 2> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 1, -1, 1, 1, 2> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 1, -1, 1, 1, 2> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from ‘class Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >’
   52 | template<typename MatrixType> class Transpose
      |                                     ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/Householder.h:129:38:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 0>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 0> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 0> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 0, 3>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 0, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 0>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/Householder.h:129:41:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 1, -1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 1, -1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 1, -1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 2> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 2> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 2> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 2> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:38:28:   required from ‘struct Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 2> >, const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> > > >’
   38 |                    >::type Scalar;
      |                            ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 2> >, const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 2> >, const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> > >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 2> >, const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> > > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 2> >, const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> > > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 2> >, const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 2> >, const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/Householder.h:131:25:   required from ‘void Eigen::MatrixBase<Derived>::applyHouseholderOnTheLeft(const EssentialPart&, const Scalar&, Scalar*) [with EssentialPart = Eigen::VectorBlock<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1>; Derived = Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Scalar = double]’
  131 |     this->row(0) -= tau * tmp;
      |                     ~~~~^~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/QR/ColPivHouseholderQR.h:550:35:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/Householder.h:132:29:   required from ‘void Eigen::MatrixBase<Derived>::applyHouseholderOnTheLeft(const EssentialPart&, const Scalar&, Scalar*) [with EssentialPart = Eigen::VectorBlock<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1>; Derived = Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Scalar = double]’
  132 |     bottom.noalias() -= tau * essential * tmp;
      |                         ~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/QR/ColPivHouseholderQR.h:550:35:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 0>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 0> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 0> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 0, 4>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 0, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 0>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/Householder.h:132:41:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 3, 1> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 3, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 3, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 3, 1> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:347:30:   required from ‘Derived& Eigen::DenseBase<Derived>::setConstant(const Scalar&) [with Derived = Eigen::Diagonal<Eigen::Matrix<double, 3, 3>, 0>; Scalar = double]’
  347 |   return derived() = Constant(rows(), cols(), val);
      |                      ~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:700:10:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 3, 3> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 3, 3> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 3, 3> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 3, 3> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/TriangularMatrix.h:406:42:   required from ‘Eigen::TriangularViewImpl<_MatrixType, _Mode, Eigen::Dense>::TriangularViewType& Eigen::TriangularViewImpl<_MatrixType, _Mode, Eigen::Dense>::setConstant(const Scalar&) [with _MatrixType = Eigen::Matrix<double, 3, 3>; unsigned int _Mode = 10; TriangularViewType = Eigen::TriangularView<Eigen::Matrix<double, 3, 3>, 10>; Scalar = double]’
  406 |     { return *this = MatrixType::Constant(derived().rows(), derived().cols(), value); }
      |                      ~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/TriangularMatrix.h:409:44:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 3, 3> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 3, 3> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 3, 3> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 3, 3> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/SelfCwiseBinaryOp.h:20:67:   required from ‘Derived& Eigen::DenseBase<Derived>::operator*=(const Scalar&) [with Derived = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Scalar = double]’
   20 |   internal::call_assignment(this->derived(), PlainObject::Constant(rows(),cols(),other), internal::mul_assign_op<Scalar,Scalar>());
      |                                              ~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/Householder.h:161:11:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, 1, 0, 3, 1> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, 1, 0, 3, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, 1, 0, 3, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, 1, 0, 3, 1> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:347:30:   required from ‘Derived& Eigen::DenseBase<Derived>::setConstant(const Scalar&) [with Derived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, -1, 1, false>; Scalar = double]’
  347 |   return derived() = Constant(rows(), cols(), val);
      |                      ~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:548:10:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> >, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false>, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from ‘class Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> >’
   52 | template<typename MatrixType> class Transpose
      |                                     ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/BlockHouseholder.h:63:90:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/BlockHouseholder.h:63:57:   required from ‘void Eigen::internal::make_block_householder_triangular_factor(TriangularFactorType&, const VectorsType&, const CoeffsType&) [with TriangularFactorType = Eigen::Matrix<double, -1, -1, 1, -1, -1>; VectorsType = Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; CoeffsType = Eigen::VectorBlock<const Eigen::Matrix<double, 2, 1>, -1>]’
   63 |       triFactor.row(i).tail(rt).noalias() = -hCoeffs(i) * vectors.col(i).tail(rs).adjoint()
      |                                             ~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/BlockHouseholder.h:92:55:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >, Eigen::TriangularView<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 5>, 0>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >, Eigen::TriangularView<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 5>, 0> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >, Eigen::TriangularView<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 5>, 0> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >, Eigen::TriangularView<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 5>, 0, 3>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >, Eigen::TriangularView<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 5>, 0, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >, Eigen::TriangularView<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 5>, 0>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/BlockHouseholder.h:64:57:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:38:28:   required from ‘struct Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> > >’
   38 |                    >::type Scalar;
      |                            ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/BlockHouseholder.h:73:50:   required from ‘void Eigen::internal::make_block_householder_triangular_factor(TriangularFactorType&, const VectorsType&, const CoeffsType&) [with TriangularFactorType = Eigen::Matrix<double, -1, -1, 1, -1, -1>; VectorsType = Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; CoeffsType = Eigen::VectorBlock<const Eigen::Matrix<double, 2, 1>, -1>]’
   73 |           triFactor.row(i).tail(nbVecs-j-1) += z * triFactor.row(j).tail(nbVecs-j-1);
      |                                                ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/BlockHouseholder.h:92:55:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, -1>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, -1>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, -1>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 1, -1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 1, -1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 1, -1> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Matrix<double, 3, 1>; SrcXprType = Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true>; Functor = assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Matrix<double, 3, 1>; SrcXprType = Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true>; Functor = Eigen::internal::assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Matrix<double, 3, 1>; Src = Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true>; Func = assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:797:41:   required from ‘Derived& Eigen::PlainObjectBase<Derived>::_set_noalias(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true>; Derived = Eigen::Matrix<double, 3, 1>]’
  797 |       internal::call_assignment_no_alias(this->derived(), other.derived(), internal::assign_op<Scalar,typename OtherDerived::Scalar>());
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:594:19:   required from ‘Eigen::PlainObjectBase<Derived>::PlainObjectBase(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true>; Derived = Eigen::Matrix<double, 3, 1>]’
  594 |       _set_noalias(other);
      |       ~~~~~~~~~~~~^~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:423:29:   required from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::Matrix(const Eigen::EigenBase<OtherDerived>&) [with OtherDerived = Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true>; _Scalar = double; int _Rows = 3; int _Cols = 1; int _Options = 0; int _MaxRows = 3; int _MaxCols = 1]’
  423 |       : Base(other.derived())
      |                             ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:658:13:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  658 |     Vector3 axis = svd.matrixV().col(2);
      |             ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:780:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false>; SrcXprType = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> > >; Functor = assign_op<double, double>]’
  780 |   DstEvaluatorType dstEvaluator(dst);
      |                    ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false>; SrcXprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> > >; Functor = Eigen::internal::assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false>; Src = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> > >; Func = assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false>; Src = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> > >; Func = assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:836:18:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&) [with Dst = Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false>; Src = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> > >]’
  836 |   call_assignment(dst, src, internal::assign_op<typename Dst::Scalar,typename Src::Scalar>());
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Assign.h:66:28:   required from ‘Derived& Eigen::MatrixBase<Derived>::operator=(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> > >; Derived = Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false>]’
   66 |   internal::call_assignment(derived(), other.derived());
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:662:17:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  662 |     this->vec() = axis * sqrt(Scalar(1) - w2);
      |     ~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1, 3, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:780:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1, 3, false>; SrcXprType = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >; Functor = assign_op<double, double>]’
  780 |   DstEvaluatorType dstEvaluator(dst);
      |                    ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1, 3, false>; SrcXprType = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >; Functor = Eigen::internal::assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1, 3, false>; Src = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >; Func = assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1, 3, false>; Src = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >; Func = assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:836:18:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&) [with Dst = Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1, 3, false>; Src = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >]’
  836 |   call_assignment(dst, src, internal::assign_op<typename Dst::Scalar,typename Src::Scalar>());
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Assign.h:66:28:   required from ‘Derived& Eigen::MatrixBase<Derived>::operator=(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >; Derived = Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1, 3, false>]’
   66 |   internal::call_assignment(derived(), other.derived());
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CommaInitializer.h:99:64:   required from ‘Eigen::CommaInitializer<MatrixType>& Eigen::CommaInitializer<MatrixType>::operator,(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >; XprType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
   98 |     m_xpr.template block<OtherDerived::RowsAtCompileTime, OtherDerived::ColsAtCompileTime>
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   99 |                     (m_row, m_col, other.rows(), other.cols()) = other;
      |                     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:656:46:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  656 |     Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
      |                           ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseUnaryOp.h:94:7:   required from ‘class Eigen::CwiseUnaryOpImpl<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, Eigen::Dense>’
   94 | class CwiseUnaryOpImpl
      |       ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseUnaryOp.h:55:7:   required from ‘class Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true> >’
   55 | class CwiseUnaryOp : public CwiseUnaryOpImpl<UnaryOp, XprType, typename internal::traits<XprType>::StorageKind>, internal::no_assignment_operator
      |       ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Dot.h:98:40:   required from ‘typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real Eigen::MatrixBase<Derived>::squaredNorm() const [with Derived = Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>; typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real = double; typename Eigen::internal::traits<T>::Scalar = double]’
   98 |   return numext::real((*this).cwiseAbs2().sum());
      |                       ~~~~~~~~~~~~~~~~~^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Dot.h:110:23:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> > >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> > > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> > > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/Householder.h:93:22:   required from ‘void Eigen::MatrixBase<Derived>::makeHouseholder(EssentialPart&, Scalar&, RealScalar&) const [with EssentialPart = Eigen::VectorBlock<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1>; Derived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>; Scalar = double; RealScalar = double]’
   93 |     essential = tail / (c0 - beta);
      |                 ~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/Householder.h:46:18:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 3, 2> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 3, 2> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 3, 2> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 3, 2> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/SelfCwiseBinaryOp.h:20:67:   required from ‘Derived& Eigen::DenseBase<Derived>::operator*=(const Scalar&) [with Derived = Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Scalar = double]’
   20 |   internal::call_assignment(this->derived(), PlainObject::Constant(rows(),cols(),other), internal::mul_assign_op<Scalar,Scalar>());
      |                                              ~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/Householder.h:123:11:   required from ‘void Eigen::MatrixBase<Derived>::applyHouseholderOnTheLeft(const EssentialPart&, const Scalar&, Scalar*) [with EssentialPart = Eigen::VectorBlock<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1>; Derived = Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Scalar = double]’
  123 |     *this *= Scalar(1)-tau;
      |     ~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/QR/ColPivHouseholderQR.h:550:35:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseUnaryOp.h:94:7:   required from ‘class Eigen::CwiseUnaryOpImpl<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, Eigen::Dense>’
   94 | class CwiseUnaryOpImpl
      |       ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseUnaryOp.h:55:7:   required from ‘class Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >’
   55 | class CwiseUnaryOp : public CwiseUnaryOpImpl<UnaryOp, XprType, typename internal::traits<XprType>::StorageKind>, internal::no_assignment_operator
      |       ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Dot.h:98:40:   required from ‘typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real Eigen::MatrixBase<Derived>::squaredNorm() const [with Derived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>; typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real = double; typename Eigen::internal::traits<T>::Scalar = double]’
   98 |   return numext::real((*this).cwiseAbs2().sum());
      |                       ~~~~~~~~~~~~~~~~~^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Dot.h:110:23:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:780:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>; SrcXprType = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >; Functor = assign_op<double, double>]’
  780 |   DstEvaluatorType dstEvaluator(dst);
      |                    ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>; SrcXprType = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >; Functor = Eigen::internal::assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>; Src = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >; Func = assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>; Src = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >; Func = assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:836:18:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&) [with Dst = Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>; Src = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >]’
  836 |   call_assignment(dst, src, internal::assign_op<typename Dst::Scalar,typename Src::Scalar>());
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Assign.h:66:28:   required from ‘Derived& Eigen::MatrixBase<Derived>::operator=(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >; Derived = Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>]’
   66 |   internal::call_assignment(derived(), other.derived());
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CommaInitializer.h:48:51:   required from ‘Eigen::CommaInitializer<MatrixType>::CommaInitializer(XprType&, const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >; XprType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
   48 |     m_xpr.block(0, 0, other.rows(), other.cols()) = other;
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CommaInitializer.h:159:10:   required from ‘Eigen::CommaInitializer<Derived> Eigen::DenseBase<Derived>::operator<<(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >; Derived = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  159 |   return CommaInitializer<Derived>(*static_cast<Derived *>(this), other);
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:656:29:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  656 |     Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
      |                           ~~^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 1, 2>, 1, -1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Visitor.h:79:51:   required from ‘class Eigen::internal::visitor_evaluator<Eigen::Block<Eigen::Matrix<double, 1, 2>, 1, -1, false> >’
   79 |     CoeffReadCost = internal::evaluator<XprType>::CoeffReadCost
      |                                                   ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Visitor.h:123:17:   required from ‘void Eigen::DenseBase<Derived>::visit(Visitor&) const [with Visitor = Eigen::internal::max_coeff_visitor<Eigen::Block<Eigen::Matrix<double, 1, 2>, 1, -1, false>, 0>; Derived = Eigen::Block<Eigen::Matrix<double, 1, 2>, 1, -1, false>]’
  123 |   ThisEvaluator thisEval(derived());
      |                 ^~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Visitor.h:374:14:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::maxCoeff(IndexType*) const [with int NaNPropagation = 0; IndexType = long int; Derived = Eigen::Block<Eigen::Matrix<double, 1, 2>, 1, -1, false>; typename Eigen::internal::traits<T>::Scalar = double]’
  374 |   this->visit(maxVisitor);
      |   ~~~~~~~~~~~^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:501:37:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::maxCoeff(IndexType*) const [with IndexType = long int; Derived = Eigen::Block<Eigen::Matrix<double, 1, 2>, 1, -1, false>; typename Eigen::internal::traits<T>::Scalar = double]’
  501 |       return maxCoeff<PropagateFast>(index);
      |              ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/QR/ColPivHouseholderQR.h:521:90:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseUnaryOp.h:94:7:   required from ‘class Eigen::CwiseUnaryOpImpl<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, Eigen::Dense>’
   94 | class CwiseUnaryOpImpl
      |       ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseUnaryOp.h:55:7:   required from ‘class Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> >’
   55 | class CwiseUnaryOp : public CwiseUnaryOpImpl<UnaryOp, XprType, typename internal::traits<XprType>::StorageKind>, internal::no_assignment_operator
      |       ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Dot.h:98:40:   required from ‘typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real Eigen::MatrixBase<Derived>::squaredNorm() const [with Derived = Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>; typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real = double; typename Eigen::internal::traits<T>::Scalar = double]’
   98 |   return numext::real((*this).cwiseAbs2().sum());
      |                       ~~~~~~~~~~~~~~~~~^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/Householder.h:78:71:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1043:41:   required from ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >’
 1043 |     CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
      |                                         ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:142:7:   required from ‘Eigen::DenseCoeffsBase<Derived, 0>::CoeffReturnType Eigen::DenseCoeffsBase<Derived, 0>::coeff(Eigen::Index) const [with Derived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>; CoeffReturnType = const double&; Eigen::Index = long int]’
  142 |       EIGEN_STATIC_ASSERT(internal::evaluator<Derived>::Flags & LinearAccessBit,
      |                                                         ^~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/Householder.h:79:20:   required from ‘void Eigen::MatrixBase<Derived>::makeHouseholder(EssentialPart&, Scalar&, RealScalar&) const [with EssentialPart = Eigen::VectorBlock<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1>; Derived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>; Scalar = double; RealScalar = double]’
   79 |   Scalar c0 = coeff(0);
      |               ~~~~~^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/Householder.h:46:18:   required from ‘void Eigen::MatrixBase<Derived>::makeHouseholderInPlace(Scalar&, RealScalar&) [with Derived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>; Scalar = double; RealScalar = double]’
   46 |   makeHouseholder(essentialPart, tau, beta);
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/QR/ColPivHouseholderQR.h:540:52:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:142:7:   required from ‘Eigen::DenseCoeffsBase<Derived, 0>::CoeffReturnType Eigen::DenseCoeffsBase<Derived, 0>::coeff(Eigen::Index) const [with Derived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>; CoeffReturnType = const double&; Eigen::Index = long int]’
  142 |       EIGEN_STATIC_ASSERT(internal::evaluator<Derived>::Flags & LinearAccessBit,
      |                                                         ^~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/Householder.h:79:20:   required from ‘void Eigen::MatrixBase<Derived>::makeHouseholder(EssentialPart&, Scalar&, RealScalar&) const [with EssentialPart = Eigen::VectorBlock<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1>; Derived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>; Scalar = double; RealScalar = double]’
   79 |   Scalar c0 = coeff(0);
      |               ~~~~~^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/Householder.h:46:18:   required from ‘void Eigen::MatrixBase<Derived>::makeHouseholderInPlace(Scalar&, RealScalar&) [with Derived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>; Scalar = double; RealScalar = double]’
   46 |   makeHouseholder(essentialPart, tau, beta);
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/QR/ColPivHouseholderQR.h:540:52:   required from ‘void Eigen::ColPivHouseholderQR<MatrixType>::computeInPlace() [with _MatrixType = Eigen::Matrix<double, 3, 2, 0, 3, 2>]’
  540 |     m_qr.col(k).tail(rows-k).makeHouseholderInPlace(m_hCoeffs.coeffRef(k), beta);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/QR/ColPivHouseholderQR.h:477:3:   required from ‘Eigen::ColPivHouseholderQR<_MatrixType>& Eigen::ColPivHouseholderQR<MatrixType>::compute(const Eigen::EigenBase<OtherDerived>&) [with InputType = Eigen::Matrix<double, 3, 2, 0, 3, 2>; _MatrixType = Eigen::Matrix<double, 3, 2, 0, 3, 2>]’
  477 |   computeInPlace();
      |   ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Matrix<double, 2, 1>, -1, 1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:142:7:   required from ‘Eigen::DenseCoeffsBase<Derived, 0>::CoeffReturnType Eigen::DenseCoeffsBase<Derived, 0>::coeff(Eigen::Index) const [with Derived = Eigen::Block<const Eigen::Matrix<double, 2, 1>, -1, 1, false>; CoeffReturnType = double; Eigen::Index = long int]’
  142 |       EIGEN_STATIC_ASSERT(internal::evaluator<Derived>::Flags & LinearAccessBit,
      |                                                         ^~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:182:19:   required from ‘Eigen::DenseCoeffsBase<Derived, 0>::CoeffReturnType Eigen::DenseCoeffsBase<Derived, 0>::operator()(Eigen::Index) const [with Derived = Eigen::Block<const Eigen::Matrix<double, 2, 1>, -1, 1, false>; CoeffReturnType = double; Eigen::Index = long int]’
  182 |       return coeff(index);
      |              ~~~~~^~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/BlockHouseholder.h:63:53:   required from ‘void Eigen::internal::make_block_householder_triangular_factor(TriangularFactorType&, const VectorsType&, const CoeffsType&) [with TriangularFactorType = Eigen::Matrix<double, -1, -1, 1, -1, -1>; VectorsType = Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; CoeffsType = Eigen::VectorBlock<const Eigen::Matrix<double, 2, 1>, -1>]’
   63 |       triFactor.row(i).tail(rt).noalias() = -hCoeffs(i) * vectors.col(i).tail(rs).adjoint()
      |                                              ~~~~~~~^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/BlockHouseholder.h:92:55:   required from ‘void Eigen::internal::apply_block_householder_on_the_left(MatrixType&, const VectorsType&, const CoeffsType&, bool) [with MatrixType = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; VectorsType = Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; CoeffsType = Eigen::VectorBlock<const Eigen::Matrix<double, 2, 1>, -1>]’
   92 |   if(forward) make_block_householder_triangular_factor(T, vectors, hCoeffs);
      |               ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/HouseholderSequence.h:399:46:   required from ‘void Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>::applyThisOnTheLeft(Dest&, Workspace&, bool) const [with Dest = Eigen::Matrix<double, 3, 3>; Workspace = Eigen::Matrix<double, 1, 3>; VectorsType = Eigen::Matrix<double, 3, 2, 0, 3, 2>; CoeffsType = Eigen::Matrix<double, 2, 1>; int Side = 1]’
  399 |           apply_block_householder_on_the_left(sub_dst, sub_vecs, m_coeffs.segment(k, bs), !m_reverse);
      |           ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1, 3>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:402:50:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >, Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >, Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >, Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >, Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 4>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >, Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >, Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:416:50:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, 3>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:402:50:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 4>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:416:50:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, -1, 3>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, -1, 3>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, -1, 3>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, -1, -1, 0, -1, 3> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, -1, -1, 0, -1, 3> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 0, -1, 3> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:41:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> > >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                         ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> > > >’
  722 | struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Matrix<double, 2, 2>; SrcXprType = Eigen::CwiseBinaryOp<scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> > >; Functor = assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Matrix<double, 2, 2>; SrcXprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> > >; Functor = Eigen::internal::assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:225:24:   required from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::operator=(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> > >; _Scalar = double; int _Rows = 2; int _Cols = 2; int _Options = 0; int _MaxRows = 2; int _MaxCols = 2]’
  225 |       return Base::_set(other);
      |              ~~~~~~~~~~^~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:697:18:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  697 |     m_workMatrix = matrix.block(0,0,m_diagSize,m_diagSize) / scale;
      |     ~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:564:45:   required from ‘struct Eigen::internal::unary_evaluator<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> >, Eigen::internal::IndexBased, double>’
  564 |     CoeffReadCost = int(evaluator<ArgType>::CoeffReadCost) + int(functor_traits<UnaryOp>::Cost),
      |                                             ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:90:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> > >’
   90 | struct evaluator : public unary_evaluator<T>
      |        ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:357:7:   required from ‘class Eigen::internal::redux_evaluator<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> > >’
  357 | class redux_evaluator : public internal::evaluator<_XprType>
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:414:17:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::redux(const Func&) const [with BinaryOp = Eigen::internal::scalar_sum_op<double, double>; Derived = Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> >; typename Eigen::internal::traits<T>::Scalar = double]’
  414 |   ThisEvaluator thisEval(derived());
      |                 ^~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 1>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 1, 3>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 1, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 1>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:402:50:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 4>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:416:50:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:780:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; SrcXprType = Eigen::CwiseNullaryOp<scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 3, 3> >; Functor = mul_assign_op<double, double>]’
  780 |   DstEvaluatorType dstEvaluator(dst);
      |                    ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; SrcXprType = Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 3, 3> >; Functor = Eigen::internal::mul_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Src = Eigen::CwiseNullaryOp<scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 3, 3> >; Func = mul_assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Src = Eigen::CwiseNullaryOp<scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 3, 3> >; Func = mul_assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/SelfCwiseBinaryOp.h:20:28:   required from ‘Derived& Eigen::DenseBase<Derived>::operator*=(const Scalar&) [with Derived = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Scalar = double]’
   20 |   internal::call_assignment(this->derived(), PlainObject::Constant(rows(),cols(),other), internal::mul_assign_op<Scalar,Scalar>());
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/Householder.h:161:11:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, 1, true> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >; SrcXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, 1, true>; Functor = add_assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >; SrcXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, 1, true>; Functor = Eigen::internal::add_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >; Src = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, 1, true>; Func = add_assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >; Src = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, 1, true>; Func = add_assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:177:18:   required from ‘Derived& Eigen::MatrixBase<Derived>::operator+=(const Eigen::MatrixBase<OtherDerived>&) [with OtherDerived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, 1, true>; Derived = Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >]’
  177 |   call_assignment(derived(), other.derived(), internal::add_assign_op<Scalar,typename OtherDerived::Scalar>());
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/Householder.h:168:9:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 1, -1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >; SrcXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 1, -1, false>; Functor = add_assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >; SrcXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 1, -1, false>; Functor = Eigen::internal::add_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >; Src = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 1, -1, false>; Func = add_assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >; Src = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 1, -1, false>; Func = add_assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:177:18:   required from ‘Derived& Eigen::MatrixBase<Derived>::operator+=(const Eigen::MatrixBase<OtherDerived>&) [with OtherDerived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 1, -1, false>; Derived = Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >]’
  177 |   call_assignment(derived(), other.derived(), internal::add_assign_op<Scalar,typename OtherDerived::Scalar>());
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/Householder.h:130:9:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:780:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; SrcXprType = Eigen::CwiseNullaryOp<scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 3, 2> >; Functor = mul_assign_op<double, double>]’
  780 |   DstEvaluatorType dstEvaluator(dst);
      |                    ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; SrcXprType = Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 3, 2> >; Functor = Eigen::internal::mul_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Src = Eigen::CwiseNullaryOp<scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 3, 2> >; Func = mul_assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Src = Eigen::CwiseNullaryOp<scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 3, 2> >; Func = mul_assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/SelfCwiseBinaryOp.h:20:28:   required from ‘Derived& Eigen::DenseBase<Derived>::operator*=(const Scalar&) [with Derived = Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Scalar = double]’
   20 |   internal::call_assignment(this->derived(), PlainObject::Constant(rows(),cols(),other), internal::mul_assign_op<Scalar,Scalar>());
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/Householder.h:123:11:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 1, -1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >; SrcXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 1, -1, false>; Functor = add_assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >; SrcXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 1, -1, false>; Functor = Eigen::internal::add_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >; Src = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 1, -1, false>; Func = add_assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >; Src = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 1, -1, false>; Func = add_assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:177:18:   required from ‘Derived& Eigen::MatrixBase<Derived>::operator+=(const Eigen::MatrixBase<OtherDerived>&) [with OtherDerived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 1, -1, false>; Derived = Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >]’
  177 |   call_assignment(derived(), other.derived(), internal::add_assign_op<Scalar,typename OtherDerived::Scalar>());
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/Householder.h:130:9:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘Eigen::Index Eigen::internal::first_default_aligned(const Eigen::DenseBase<Derived>&) [with Derived = Eigen::CwiseUnaryOp<scalar_abs2_op<double>, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >; Eigen::Index = long int]’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:243:63:   required from ‘static Eigen::internal::redux_impl<Func, Evaluator, 3, 0>::Scalar Eigen::internal::redux_impl<Func, Evaluator, 3, 0>::run(const Evaluator&, const Func&, const XprType&) [with XprType = Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >; Func = Eigen::internal::scalar_sum_op<double, double>; Evaluator = Eigen::internal::redux_evaluator<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> > >; Scalar = double]’
  243 |     const Index alignedStart = internal::first_default_aligned(xpr);
      |                                ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:418:56:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::redux(const Func&) const [with BinaryOp = Eigen::internal::scalar_sum_op<double, double>; Derived = Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >; typename Eigen::internal::traits<T>::Scalar = double]’
  418 |   return internal::redux_impl<Func, ThisEvaluator>::run(thisEval, func, derived());
      |          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::sum() const [with Derived = Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >; typename Eigen::internal::traits<T>::Scalar = double]’
  463 |   return derived().redux(Eigen::internal::scalar_sum_op<Scalar,Scalar>());
      |          ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Dot.h:98:46:   required from ‘typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real Eigen::MatrixBase<Derived>::squaredNorm() const [with Derived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>; typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real = double; typename Eigen::internal::traits<T>::Scalar = double]’
   98 |   return numext::real((*this).cwiseAbs2().sum());
      |                       ~~~~~~~~~~~~~~~~~~~~~~~^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Dot.h:110:23:   required from ‘typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real Eigen::MatrixBase<Derived>::norm() const [with Derived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>; typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real = double; typename Eigen::internal::traits<T>::Scalar = double]’
  110 |   return numext::sqrt(squaredNorm());
      |                       ^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/QR/ColPivHouseholderQR.h:567:77:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:654:74: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  654 |   return internal::first_aligned<int(unpacket_traits<DefaultPacketType>::alignment),Derived>(m);
      |                                                                          ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:311:41:   required from ‘struct Eigen::internal::unary_evaluator<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, Eigen::internal::IndexBased, double>’
  311 |     CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
      |                                         ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:90:8:   required from ‘struct Eigen::internal::evaluator<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> > >’
   90 | struct evaluator : public unary_evaluator<T>
      |        ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/TriangularMatrix.h:730:8:   required from ‘struct Eigen::internal::unary_evaluator<Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 1>, Eigen::internal::IndexBased, double>’
  730 | struct unary_evaluator<TriangularView<MatrixType,Mode>, IndexBased>
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:90:8:   required from ‘struct Eigen::internal::evaluator<Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 1> >’
   90 | struct evaluator : public unary_evaluator<T>
      |        ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/TriangularMatrix.h:807:20:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:231:24:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  231 |       svd.m_workMatrix = m_qr.matrixQR().block(0,0,matrix.rows(),matrix.rows()).template triangularView<Upper>().adjoint();
      |       ~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1043:41:   required from ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >’
 1043 |     CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
      |                                         ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:78:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                                                              ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> > >’
  722 | struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>; SrcXprType = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >; Functor = add_assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:78:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                                                              ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> > >’
  722 | struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>; SrcXprType = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >; Functor = add_assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>; SrcXprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >; Functor = Eigen::internal::add_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘Eigen::Index Eigen::internal::first_default_aligned(const Eigen::DenseBase<Derived>&) [with Derived = Eigen::CwiseUnaryOp<scalar_abs2_op<double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> >; Eigen::Index = long int]’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:243:63:   required from ‘static Eigen::internal::redux_impl<Func, Evaluator, 3, 0>::Scalar Eigen::internal::redux_impl<Func, Evaluator, 3, 0>::run(const Evaluator&, const Func&, const XprType&) [with XprType = Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> >; Func = Eigen::internal::scalar_sum_op<double, double>; Evaluator = Eigen::internal::redux_evaluator<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> > >; Scalar = double]’
  243 |     const Index alignedStart = internal::first_default_aligned(xpr);
      |                                ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:418:56:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::redux(const Func&) const [with BinaryOp = Eigen::internal::scalar_sum_op<double, double>; Derived = Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> >; typename Eigen::internal::traits<T>::Scalar = double]’
  418 |   return internal::redux_impl<Func, ThisEvaluator>::run(thisEval, func, derived());
      |          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::sum() const [with Derived = Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> >; typename Eigen::internal::traits<T>::Scalar = double]’
  463 |   return derived().redux(Eigen::internal::scalar_sum_op<Scalar,Scalar>());
      |          ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Dot.h:98:46:   required from ‘typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real Eigen::MatrixBase<Derived>::squaredNorm() const [with Derived = Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>; typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real = double; typename Eigen::internal::traits<T>::Scalar = double]’
   98 |   return numext::real((*this).cwiseAbs2().sum());
      |                       ~~~~~~~~~~~~~~~~~~~~~~~^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/Householder.h:78:71:   required from ‘void Eigen::MatrixBase<Derived>::makeHouseholder(EssentialPart&, Scalar&, RealScalar&) const [with EssentialPart = Eigen::VectorBlock<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1>; Derived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>; Scalar = double; RealScalar = double]’
   78 |   RealScalar tailSqNorm = size()==1 ? RealScalar(0) : tail.squaredNorm();
      |                                                       ~~~~~~~~~~~~~~~~^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Householder/Householder.h:46:18:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:654:74: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  654 |   return internal::first_aligned<int(unpacket_traits<DefaultPacketType>::alignment),Derived>(m);
      |                                                                          ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:372:102:   required from ‘struct Eigen::internal::plain_object_eval<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Dense>’
  372 |   typedef typename plain_matrix_type_dense<T,typename traits<T>::XprKind, evaluator<T>::Flags>::type type;
      |                                                                                                      ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:526:76:   required from ‘struct Eigen::internal::product_evaluator<Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1>, 3, Eigen::DenseShape, Eigen::DenseShape, double, double>’
  526 |   typedef typename internal::nested_eval<Lhs,Rhs::ColsAtCompileTime>::type LhsNested;
      |                                                                            ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:29:8:   required from ‘struct Eigen::internal::evaluator<Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1> >’
   29 | struct evaluator<Product<Lhs, Rhs, Options> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >; SrcXprType = Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1>; Functor = assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >; SrcXprType = Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1>; Functor = Eigen::internal::assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:372:102:   required from ‘struct Eigen::internal::plain_object_eval<Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, Eigen::Dense>’
  372 |   typedef typename plain_matrix_type_dense<T,typename traits<T>::XprKind, evaluator<T>::Flags>::type type;
      |                                                                                                      ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:527:76:   required from ‘struct Eigen::internal::product_evaluator<Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1>, 3, Eigen::DenseShape, Eigen::DenseShape, double, double>’
  527 |   typedef typename internal::nested_eval<Rhs,Lhs::RowsAtCompileTime>::type RhsNested;
      |                                                                            ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:29:8:   required from ‘struct Eigen::internal::evaluator<Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1> >’
   29 | struct evaluator<Product<Lhs, Rhs, Options> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >; SrcXprType = Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1>; Functor = assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >; SrcXprType = Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1>; Functor = Eigen::internal::assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of ‘struct Eigen::internal::find_best_packet<double, 1>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:544:69:   required from ‘struct Eigen::internal::product_evaluator<Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1>, 3, Eigen::DenseShape, Eigen::DenseShape, double, double>’
  544 |   typedef typename find_best_packet<Scalar,ColsAtCompileTime>::type RhsVecPacketType;
      |                                                                     ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:29:8:   required from ‘struct Eigen::internal::evaluator<Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1> >’
   29 | struct evaluator<Product<Lhs, Rhs, Options> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >; SrcXprType = Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1>; Functor = assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >; SrcXprType = Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1>; Functor = Eigen::internal::assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >; Src = Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1>; Func = assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:402:29:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:44: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:208:88: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  208 |   typedef typename find_best_packet_helper<Size,typename packet_traits<T>::type>::type type;
      |                                                                                        ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, -1, 1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:780:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, -1, 1, false>; SrcXprType = Eigen::CwiseNullaryOp<scalar_constant_op<double>, Eigen::Matrix<double, -1, 1, 0, 3, 1> >; Functor = assign_op<double, double>]’
  780 |   DstEvaluatorType dstEvaluator(dst);
      |                    ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, -1, 1, false>; SrcXprType = Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, 1, 0, 3, 1> >; Functor = Eigen::internal::assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, -1, 1, false>; Src = Eigen::CwiseNullaryOp<scalar_constant_op<double>, Eigen::Matrix<double, -1, 1, 0, 3, 1> >; Func = assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, -1, 1, false>; Src = Eigen::CwiseNullaryOp<scalar_constant_op<double>, Eigen::Matrix<double, -1, 1, 0, 3, 1> >; Func = assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:836:18:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&) [with Dst = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, -1, 1, false>; Src = Eigen::CwiseNullaryOp<scalar_constant_op<double>, Eigen::Matrix<double, -1, 1, 0, 3, 1> >]’
  836 |   call_assignment(dst, src, internal::assign_op<typename Dst::Scalar,typename Src::Scalar>());
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Assign.h:66:28:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 1, -1> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 1, -1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 1, -1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 1, -1> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:347:30:   required from ‘Derived& Eigen::DenseBase<Derived>::setConstant(const Scalar&) [with Derived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>; Scalar = double]’
  347 |   return derived() = Constant(rows(), cols(), val);
      |                      ~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:548:10:   required from ‘Derived& Eigen::DenseBase<Derived>::setZero() [with Derived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>]’
  548 |   return setConstant(Scalar(0));
      |          ^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:349:16:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
In file included from /home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/Core:330:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h: In instantiation of ‘class Eigen::internal::gebp_traits<double, double, false, false, 1, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:92:29:   required from ‘struct Eigen::internal::product_triangular_matrix_matrix<double, long int, 5, true, 0, false, 0, false, 0, 1, 0>’
   92 |     SmallPanelWidth   = 2 * EIGEN_PLAIN_ENUM_MAX(Traits::mr,Traits::nr),
      |                                                          ^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:443:12:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, LhsIsTriangular, Lhs, false, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; int Mode = 5; bool LhsIsTriangular = true; Lhs = const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; typename Dest::Scalar = double]’
  438 |     internal::product_triangular_matrix_matrix<Scalar, Index,
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  439 |       Mode, LhsIsTriangular,
      |       ~~~~~~~~~~~~~~~~~~~~~~
  440 |       (internal::traits<ActualLhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  441 |       (internal::traits<ActualRhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  442 |       (internal::traits<Dest          >::Flags&RowMajorBit) ? RowMajor : ColMajor, Dest::InnerStrideAtCompileTime>
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  443 |       ::run(
      |       ~~~~~^
  444 |         stripedRows, stripedCols, stripedDepth,   // sizes
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  445 |         &lhs.coeffRef(0,0), lhs.outerStride(),    // lhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  446 |         &rhs.coeffRef(0,0), rhs.outerStride(),    // rhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  447 |         &dst.coeffRef(0,0), dst.innerStride(), dst.outerStride(),    // result info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  448 |         actualAlpha, blocking
      |         ~~~~~~~~~~~~~~~~~~~~~
  449 |       );
      |       ~     
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   required from ‘static void Eigen::internal::generic_product_impl<Lhs, Rhs, Eigen::TriangularShape, Eigen::DenseShape, ProductTag>::scaleAndAddTo(Dest&, const Lhs&, const Rhs&, const Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Lhs = Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; int ProductTag = 3; Scalar = double]’
  769 |     triangular_product_impl<Lhs::Mode,true,typename Lhs::MatrixType,false,Rhs, Rhs::ColsAtCompileTime==1>
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  770 |         ::run(dst, lhs.nestedExpression(), rhs, alpha);
      |         ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:361:27:   required from ‘static void Eigen::internal::generic_product_impl_base<Lhs, Rhs, Derived>::scaleAndAddTo(Dst&, const Lhs&, const Rhs&, const Scalar&) [with Dst = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Lhs = Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; Derived = Eigen::internal::generic_product_impl<Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, Eigen::TriangularShape, Eigen::DenseShape, 3>; Scalar = double]’
  361 |   { Derived::scaleAndAddTo(dst,lhs,rhs,alpha); }
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:357:18:   required from ‘static void Eigen::internal::generic_product_impl_base<Lhs, Rhs, Derived>::subTo(Dst&, const Lhs&, const Rhs&) [with Dst = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Lhs = Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; Derived = Eigen::internal::generic_product_impl<Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, Eigen::TriangularShape, Eigen::DenseShape, 3>]’
  357 |   { scaleAndAddTo(dst, lhs, rhs, Scalar(-1)); }
      |     ~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:178:42:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:425:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  425 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:425:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  425 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:425:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  425 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:425:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  425 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:426:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  426 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:426:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  426 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:426:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  426 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:426:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  426 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:427:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  427 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:427:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  427 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:427:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  427 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:427:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  427 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:49: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  432 |     Vectorizable = unpacket_traits<_LhsPacket>::vectorizable && unpacket_traits<_RhsPacket>::vectorizable,
      |                                                 ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:49: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:49: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:49: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:94: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  432 |     Vectorizable = unpacket_traits<_LhsPacket>::vectorizable && unpacket_traits<_RhsPacket>::vectorizable,
      |                                                                                              ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:94: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:94: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:94: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:433:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  433 |     LhsPacketSize = Vectorizable ? unpacket_traits<_LhsPacket>::size : 1,
      |                                                                 ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:433:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:433:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:433:65: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:434:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  434 |     RhsPacketSize = Vectorizable ? unpacket_traits<_RhsPacket>::size : 1,
      |                                                                 ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:434:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:434:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:434:65: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:435:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  435 |     ResPacketSize = Vectorizable ? unpacket_traits<_ResPacket>::size : 1,
      |                                                                 ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:435:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:435:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:435:65: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:460:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  460 |   typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
      |                                                                         ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:460:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:460:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:460:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:461:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  461 |   typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
      |                                                                         ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:461:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:461:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:461:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:462:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  462 |   typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
      |                                                                         ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:462:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:462:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:462:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:465:33: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  465 |   typedef QuadPacket<RhsPacket> RhsPacketx4;
      |                                 ^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:465:33: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:465:33: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:465:33: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:457:59:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, LhsIsTriangular, Lhs, false, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; int Mode = 5; bool LhsIsTriangular = true; Lhs = const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; typename Dest::Scalar = double]’
  457 |         dst.topRows(diagSize) -= ((lhs_alpha-LhsScalar(1))*a_rhs).topRows(diagSize);
      |                                  ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:172:103:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false, false>’
  172 | template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel, bool HasDirectAccess> class BlockImpl_dense
      |                                                                                                       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   required from ‘class Eigen::BlockImpl<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false, Eigen::Dense>’
  154 | class BlockImpl<XprType, BlockRows, BlockCols, InnerPanel, Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:103:81:   required from ‘class Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false>’
  103 | template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class Block
      |                                                                                 ^~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:457:74:   [ skipping 9 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, true>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, true>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, true>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 13 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:38:28:   required from ‘struct Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> > >’
   38 |                    >::type Scalar;
      |                            ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   [ skipping 10 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:462:59:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, LhsIsTriangular, Lhs, false, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; int Mode = 5; bool LhsIsTriangular = true; Lhs = const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; typename Dest::Scalar = double]’
  462 |         dst.leftCols(diagSize) -= (rhs_alpha-RhsScalar(1))*a_lhs.leftCols(diagSize);
      |                                   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:780:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>; SrcXprType = Eigen::CwiseBinaryOp<scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> > >; Functor = assign_op<double, double>]’
  780 |   DstEvaluatorType dstEvaluator(dst);
      |                    ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>; SrcXprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> > >; Functor = Eigen::internal::assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>; Src = Eigen::CwiseBinaryOp<scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> > >; Func = assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>; Src = Eigen::CwiseBinaryOp<scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> > >; Func = assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:836:18:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&) [with Dst = Eigen::Block<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>; Src = Eigen::CwiseBinaryOp<scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> > >]’
  836 |   call_assignment(dst, src, internal::assign_op<typename Dst::Scalar,typename Src::Scalar>());
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Assign.h:66:28:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:372:102:   required from ‘struct Eigen::internal::plain_object_eval<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, Eigen::Dense>’
  372 |   typedef typename plain_matrix_type_dense<T,typename traits<T>::XprKind, evaluator<T>::Flags>::type type;
      |                                                                                                      ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:527:76:   required from ‘struct Eigen::internal::product_evaluator<Eigen::Product<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 1>, 3, Eigen::DenseShape, Eigen::DenseShape, double, double>’
  527 |   typedef typename internal::nested_eval<Rhs,Lhs::RowsAtCompileTime>::type RhsNested;
      |                                                                            ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:29:8:   required from ‘struct Eigen::internal::evaluator<Eigen::Product<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 1> >’
   29 | struct evaluator<Product<Lhs, Rhs, Options> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >; SrcXprType = Eigen::Product<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 1>; Functor = assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >; SrcXprType = Eigen::Product<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 1>; Functor = Eigen::internal::assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false> >, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from ‘class Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false> >’
   52 | template<typename MatrixType> class Transpose
      |                                     ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:194:32:   [ skipping 10 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from ‘class Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >’
   52 | template<typename MatrixType> class Transpose
      |                                     ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:194:48:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, false, Lhs, true, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>; int Mode = 5; Lhs = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >; Rhs = const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>; typename Dest::Scalar = double]’
  194 |             ::run(rhs.transpose(),lhs.transpose(), dstT, alpha);
      |                                   ~~~~~~~~~~~~~^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:783:113:   [ skipping 9 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 2, 3> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 2, 3> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 2, 3> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 2, 3> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:347:30:   required from ‘Derived& Eigen::DenseBase<Derived>::setConstant(const Scalar&) [with Derived = Eigen::Matrix<double, -1, -1, 0, 2, 3>; Scalar = double]’
  347 |   return derived() = Constant(rows(), cols(), val);
      |                      ~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:548:10:   required from ‘Derived& Eigen::DenseBase<Derived>::setZero() [with Derived = Eigen::Matrix<double, -1, -1, 0, 2, 3>]’
  548 |   return setConstant(Scalar(0));
      |          ^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:349:16:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of ‘struct Eigen::internal::find_best_packet<double, 64>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:22:57:   required from ‘struct Eigen::internal::traits<Eigen::Matrix<double, 8, 8, 0, 8, 8> >’
   22 |   typedef typename find_best_packet<_Scalar,size>::type PacketScalar;
      |                                                         ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 8, 8, 0, 8, 8> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<double, 8, 8, 0, 8, 8>’
  178 | class Matrix
      |       ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:150:68:   required from ‘static void Eigen::internal::product_triangular_matrix_matrix<Scalar, Index, Mode, true, LhsStorageOrder, ConjugateLhs, RhsStorageOrder, ConjugateRhs, 0, ResInnerStride, Version>::run(Index, Index, Index, const Scalar*, Index, const Scalar*, Index, Scalar*, Index, Index, const Scalar&, Eigen::internal::level3_blocking<Scalar, Scalar>&) [with Scalar = double; Index = long int; int Mode = 5; int LhsStorageOrder = 0; bool ConjugateLhs = false; int RhsStorageOrder = 0; bool ConjugateRhs = false; int ResInnerStride = 1; int Version = 0]’
  150 |     Matrix<Scalar,SmallPanelWidth,SmallPanelWidth,LhsStorageOrder> triangularBuffer(a);
      |                                                                    ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:443:12:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, LhsIsTriangular, Lhs, false, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; int Mode = 5; bool LhsIsTriangular = true; Lhs = const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; typename Dest::Scalar = double]’
  438 |     internal::product_triangular_matrix_matrix<Scalar, Index,
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  439 |       Mode, LhsIsTriangular,
      |       ~~~~~~~~~~~~~~~~~~~~~~
  440 |       (internal::traits<ActualLhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  441 |       (internal::traits<ActualRhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  442 |       (internal::traits<Dest          >::Flags&RowMajorBit) ? RowMajor : ColMajor, Dest::InnerStrideAtCompileTime>
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  443 |       ::run(
      |       ~~~~~^
  444 |         stripedRows, stripedCols, stripedDepth,   // sizes
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  445 |         &lhs.coeffRef(0,0), lhs.outerStride(),    // lhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  446 |         &rhs.coeffRef(0,0), rhs.outerStride(),    // rhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  447 |         &dst.coeffRef(0,0), dst.innerStride(), dst.outerStride(),    // result info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  448 |         actualAlpha, blocking
      |         ~~~~~~~~~~~~~~~~~~~~~
  449 |       );
      |       ~     
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:44: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:208:88: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  208 |   typedef typename find_best_packet_helper<Size,typename packet_traits<T>::type>::type type;
      |                                                                                        ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 8, 8, 0, 8, 8> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 8, 8, 0, 8, 8> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 8, 8, 0, 8, 8> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 0>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 0>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 0>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 0> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 0> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Diagonal.h:63:53:   required from ‘class Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 0>’
   63 | template<typename MatrixType, int _DiagIndex> class Diagonal
      |                                                     ^~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:153:32:   [ skipping 10 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of ‘struct Eigen::internal::find_best_packet<double, 8>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:179:81:   required from ‘class Eigen::DenseBase<Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 0> >’
  179 |     typedef typename internal::find_best_packet<Scalar,SizeAtCompileTime>::type PacketScalar;
      |                                                                                 ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 0> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Diagonal.h:63:53:   required from ‘class Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 0>’
   63 | template<typename MatrixType, int _DiagIndex> class Diagonal
      |                                                     ^~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:153:32:   required from ‘static void Eigen::internal::product_triangular_matrix_matrix<Scalar, Index, Mode, true, LhsStorageOrder, ConjugateLhs, RhsStorageOrder, ConjugateRhs, 0, ResInnerStride, Version>::run(Index, Index, Index, const Scalar*, Index, const Scalar*, Index, Scalar*, Index, Index, const Scalar&, Eigen::internal::level3_blocking<Scalar, Scalar>&) [with Scalar = double; Index = long int; int Mode = 5; int LhsStorageOrder = 0; bool ConjugateLhs = false; int RhsStorageOrder = 0; bool ConjugateRhs = false; int ResInnerStride = 1; int Version = 0]’
  153 |       triangularBuffer.diagonal().setZero();
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:443:12:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, LhsIsTriangular, Lhs, false, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; int Mode = 5; bool LhsIsTriangular = true; Lhs = const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; typename Dest::Scalar = double]’
  438 |     internal::product_triangular_matrix_matrix<Scalar, Index,
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  439 |       Mode, LhsIsTriangular,
      |       ~~~~~~~~~~~~~~~~~~~~~~
  440 |       (internal::traits<ActualLhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  441 |       (internal::traits<ActualRhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  442 |       (internal::traits<Dest          >::Flags&RowMajorBit) ? RowMajor : ColMajor, Dest::InnerStrideAtCompileTime>
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  443 |       ::run(
      |       ~~~~~^
  444 |         stripedRows, stripedCols, stripedDepth,   // sizes
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  445 |         &lhs.coeffRef(0,0), lhs.outerStride(),    // lhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  446 |         &rhs.coeffRef(0,0), rhs.outerStride(),    // rhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  447 |         &dst.coeffRef(0,0), dst.innerStride(), dst.outerStride(),    // result info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  448 |         actualAlpha, blocking
      |         ~~~~~~~~~~~~~~~~~~~~~
  449 |       );
      |       ~     
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:44: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:208:88: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  208 |   typedef typename find_best_packet_helper<Size,typename packet_traits<T>::type>::type type;
      |                                                                                        ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h: In instantiation of ‘class Eigen::internal::gebp_traits<double, double, false, false, 1, 1>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:1080:42:   required from ‘struct Eigen::internal::gebp_kernel<double, double, long int, Eigen::internal::blas_data_mapper<double, long int, 0, 0, 1>, 4, 4, false, false>’
 1080 |   typedef typename HalfTraits::LhsPacket LhsPacketHalf;
      |                                          ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:157:103:   required from ‘static void Eigen::internal::product_triangular_matrix_matrix<Scalar, Index, Mode, true, LhsStorageOrder, ConjugateLhs, RhsStorageOrder, ConjugateRhs, 0, ResInnerStride, Version>::run(Index, Index, Index, const Scalar*, Index, const Scalar*, Index, Scalar*, Index, Index, const Scalar&, Eigen::internal::level3_blocking<Scalar, Scalar>&) [with Scalar = double; Index = long int; int Mode = 5; int LhsStorageOrder = 0; bool ConjugateLhs = false; int RhsStorageOrder = 0; bool ConjugateRhs = false; int ResInnerStride = 1; int Version = 0]’
  157 |     gebp_kernel<Scalar, Scalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
      |                                                                                                       ^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:443:12:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, LhsIsTriangular, Lhs, false, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; int Mode = 5; bool LhsIsTriangular = true; Lhs = const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; typename Dest::Scalar = double]’
  438 |     internal::product_triangular_matrix_matrix<Scalar, Index,
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  439 |       Mode, LhsIsTriangular,
      |       ~~~~~~~~~~~~~~~~~~~~~~
  440 |       (internal::traits<ActualLhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  441 |       (internal::traits<ActualRhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  442 |       (internal::traits<Dest          >::Flags&RowMajorBit) ? RowMajor : ColMajor, Dest::InnerStrideAtCompileTime>
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  443 |       ::run(
      |       ~~~~~^
  444 |         stripedRows, stripedCols, stripedDepth,   // sizes
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  445 |         &lhs.coeffRef(0,0), lhs.outerStride(),    // lhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  446 |         &rhs.coeffRef(0,0), rhs.outerStride(),    // rhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  447 |         &dst.coeffRef(0,0), dst.innerStride(), dst.outerStride(),    // result info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  448 |         actualAlpha, blocking
      |         ~~~~~~~~~~~~~~~~~~~~~
  449 |       );
      |       ~     
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   required from ‘static void Eigen::internal::generic_product_impl<Lhs, Rhs, Eigen::TriangularShape, Eigen::DenseShape, ProductTag>::scaleAndAddTo(Dest&, const Lhs&, const Rhs&, const Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Lhs = Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; int ProductTag = 3; Scalar = double]’
  769 |     triangular_product_impl<Lhs::Mode,true,typename Lhs::MatrixType,false,Rhs, Rhs::ColsAtCompileTime==1>
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  770 |         ::run(dst, lhs.nestedExpression(), rhs, alpha);
      |         ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:361:27:   required from ‘static void Eigen::internal::generic_product_impl_base<Lhs, Rhs, Derived>::scaleAndAddTo(Dst&, const Lhs&, const Rhs&, const Scalar&) [with Dst = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Lhs = Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; Derived = Eigen::internal::generic_product_impl<Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, Eigen::TriangularShape, Eigen::DenseShape, 3>; Scalar = double]’
  361 |   { Derived::scaleAndAddTo(dst,lhs,rhs,alpha); }
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:357:18:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:425:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  425 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:425:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  425 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:425:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  425 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:425:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  425 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:426:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  426 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:426:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  426 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:426:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  426 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:426:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  426 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:427:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  427 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:427:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  427 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:427:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  427 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:427:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  427 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:49: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  432 |     Vectorizable = unpacket_traits<_LhsPacket>::vectorizable && unpacket_traits<_RhsPacket>::vectorizable,
      |                                                 ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:49: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:49: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:49: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:94: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  432 |     Vectorizable = unpacket_traits<_LhsPacket>::vectorizable && unpacket_traits<_RhsPacket>::vectorizable,
      |                                                                                              ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:94: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:94: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:94: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:433:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  433 |     LhsPacketSize = Vectorizable ? unpacket_traits<_LhsPacket>::size : 1,
      |                                                                 ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:433:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:433:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:433:65: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:434:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  434 |     RhsPacketSize = Vectorizable ? unpacket_traits<_RhsPacket>::size : 1,
      |                                                                 ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:434:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:434:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:434:65: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:435:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  435 |     ResPacketSize = Vectorizable ? unpacket_traits<_ResPacket>::size : 1,
      |                                                                 ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:435:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:435:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:435:65: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:460:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  460 |   typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
      |                                                                         ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:460:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:460:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:460:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:461:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  461 |   typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
      |                                                                         ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:461:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:461:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:461:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:462:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  462 |   typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
      |                                                                         ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:462:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:462:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:462:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:465:33: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  465 |   typedef QuadPacket<RhsPacket> RhsPacketx4;
      |                                 ^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:465:33: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:465:33: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:465:33: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h: In instantiation of ‘class Eigen::internal::gebp_traits<double, double, false, false, 1, 2>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:1085:45:   required from ‘struct Eigen::internal::gebp_kernel<double, double, long int, Eigen::internal::blas_data_mapper<double, long int, 0, 0, 1>, 4, 4, false, false>’
 1085 |   typedef typename QuarterTraits::LhsPacket LhsPacketQuarter;
      |                                             ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:157:103:   required from ‘static void Eigen::internal::product_triangular_matrix_matrix<Scalar, Index, Mode, true, LhsStorageOrder, ConjugateLhs, RhsStorageOrder, ConjugateRhs, 0, ResInnerStride, Version>::run(Index, Index, Index, const Scalar*, Index, const Scalar*, Index, Scalar*, Index, Index, const Scalar&, Eigen::internal::level3_blocking<Scalar, Scalar>&) [with Scalar = double; Index = long int; int Mode = 5; int LhsStorageOrder = 0; bool ConjugateLhs = false; int RhsStorageOrder = 0; bool ConjugateRhs = false; int ResInnerStride = 1; int Version = 0]’
  157 |     gebp_kernel<Scalar, Scalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
      |                                                                                                       ^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:443:12:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, LhsIsTriangular, Lhs, false, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; int Mode = 5; bool LhsIsTriangular = true; Lhs = const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; typename Dest::Scalar = double]’
  438 |     internal::product_triangular_matrix_matrix<Scalar, Index,
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  439 |       Mode, LhsIsTriangular,
      |       ~~~~~~~~~~~~~~~~~~~~~~
  440 |       (internal::traits<ActualLhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  441 |       (internal::traits<ActualRhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  442 |       (internal::traits<Dest          >::Flags&RowMajorBit) ? RowMajor : ColMajor, Dest::InnerStrideAtCompileTime>
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  443 |       ::run(
      |       ~~~~~^
  444 |         stripedRows, stripedCols, stripedDepth,   // sizes
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  445 |         &lhs.coeffRef(0,0), lhs.outerStride(),    // lhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  446 |         &rhs.coeffRef(0,0), rhs.outerStride(),    // rhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  447 |         &dst.coeffRef(0,0), dst.innerStride(), dst.outerStride(),    // result info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  448 |         actualAlpha, blocking
      |         ~~~~~~~~~~~~~~~~~~~~~
  449 |       );
      |       ~     
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   required from ‘static void Eigen::internal::generic_product_impl<Lhs, Rhs, Eigen::TriangularShape, Eigen::DenseShape, ProductTag>::scaleAndAddTo(Dest&, const Lhs&, const Rhs&, const Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Lhs = Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; int ProductTag = 3; Scalar = double]’
  769 |     triangular_product_impl<Lhs::Mode,true,typename Lhs::MatrixType,false,Rhs, Rhs::ColsAtCompileTime==1>
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  770 |         ::run(dst, lhs.nestedExpression(), rhs, alpha);
      |         ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:361:27:   required from ‘static void Eigen::internal::generic_product_impl_base<Lhs, Rhs, Derived>::scaleAndAddTo(Dst&, const Lhs&, const Rhs&, const Scalar&) [with Dst = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Lhs = Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; Derived = Eigen::internal::generic_product_impl<Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, Eigen::TriangularShape, Eigen::DenseShape, 3>; Scalar = double]’
  361 |   { Derived::scaleAndAddTo(dst,lhs,rhs,alpha); }
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:357:18:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:425:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  425 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:425:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  425 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:425:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  425 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:425:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  425 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:426:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  426 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:426:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  426 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:426:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  426 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:426:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  426 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:427:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  427 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:427:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  427 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:427:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  427 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:427:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  427 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:49: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  432 |     Vectorizable = unpacket_traits<_LhsPacket>::vectorizable && unpacket_traits<_RhsPacket>::vectorizable,
      |                                                 ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:49: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:49: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:49: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:94: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  432 |     Vectorizable = unpacket_traits<_LhsPacket>::vectorizable && unpacket_traits<_RhsPacket>::vectorizable,
      |                                                                                              ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:94: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:94: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:94: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:433:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  433 |     LhsPacketSize = Vectorizable ? unpacket_traits<_LhsPacket>::size : 1,
      |                                                                 ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:433:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:433:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:433:65: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:434:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  434 |     RhsPacketSize = Vectorizable ? unpacket_traits<_RhsPacket>::size : 1,
      |                                                                 ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:434:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:434:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:434:65: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:435:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  435 |     ResPacketSize = Vectorizable ? unpacket_traits<_ResPacket>::size : 1,
      |                                                                 ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:435:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:435:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:435:65: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:460:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  460 |   typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
      |                                                                         ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:460:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:460:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:460:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:461:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  461 |   typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
      |                                                                         ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:461:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:461:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:461:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:462:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  462 |   typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
      |                                                                         ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:462:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:462:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:462:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:465:33: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  465 |   typedef QuadPacket<RhsPacket> RhsPacketx4;
      |                                 ^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:465:33: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:465:33: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:465:33: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 2, 2> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 2, 2> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 2, 2> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 2, 2> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:347:30:   required from ‘Derived& Eigen::DenseBase<Derived>::setConstant(const Scalar&) [with Derived = Eigen::Matrix<double, 2, 2>; Scalar = double]’
  347 |   return derived() = Constant(rows(), cols(), val);
      |                      ~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:548:10:   required from ‘Derived& Eigen::DenseBase<Derived>::setZero() [with Derived = Eigen::Matrix<double, 2, 2>]’
  548 |   return setConstant(Scalar(0));
      |          ^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PermutationMatrix.h:103:20:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:238:40:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  238 |       if(svd.computeU()) svd.m_matrixU = m_qr.colsPermutation();
      |                          ~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> >, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from ‘class Eigen::Transpose<const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >’
   52 | template<typename MatrixType> class Transpose
      |                                     ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/util/BlasUtil.h:506:13:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, -1, 1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, -1, 1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, -1, 1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, -1, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, -1, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, -1, 1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 16 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:172:103:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false, false>’
  172 | template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel, bool HasDirectAccess> class BlockImpl_dense
      |                                                                                                       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   required from ‘class Eigen::BlockImpl<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false, Eigen::Dense>’
  154 | class BlockImpl<XprType, BlockRows, BlockCols, InnerPanel, Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:103:81:   required from ‘class Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false>’
  103 | template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class Block
      |                                                                                 ^~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/VectorBlock.h:56:47:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:341:54:   required from ‘static void Eigen::internal::trmv_selector<Mode, 1>::run(const Lhs&, const Rhs&, Dest&, const typename Dest::Scalar&) [with Lhs = Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false> >; Rhs = Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >; Dest = Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >; int Mode = 6; typename Dest::Scalar = double]’
  341 |       dest.head(diagSize) -= (lhs_alpha-LhsScalar(1))*rhs.head(diagSize);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:194:18:   [ skipping 10 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:38:28:   required from ‘struct Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> > >’
   38 |                    >::type Scalar;
      |                            ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:457:59:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, LhsIsTriangular, Lhs, false, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Matrix<double, -1, -1, 0, 2, 3>; int Mode = 6; bool LhsIsTriangular = true; Lhs = const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >; Rhs = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; typename Dest::Scalar = double]’
  457 |         dst.topRows(diagSize) -= ((lhs_alpha-LhsScalar(1))*a_rhs).topRows(diagSize);
      |                                  ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   [ skipping 10 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:172:103:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false, false>’
  172 | template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel, bool HasDirectAccess> class BlockImpl_dense
      |                                                                                                       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   required from ‘class Eigen::BlockImpl<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false, Eigen::Dense>’
  154 | class BlockImpl<XprType, BlockRows, BlockCols, InnerPanel, Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:103:81:   required from ‘class Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false>’
  103 | template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class Block
      |                                                                                 ^~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:457:74:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, true>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, true>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, true>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 13 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:38:28:   required from ‘struct Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> > >’
   38 |                    >::type Scalar;
      |                            ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:462:59:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, LhsIsTriangular, Lhs, false, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Matrix<double, -1, -1, 0, 2, 3>; int Mode = 6; bool LhsIsTriangular = true; Lhs = const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >; Rhs = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; typename Dest::Scalar = double]’
  462 |         dst.leftCols(diagSize) -= (rhs_alpha-RhsScalar(1))*a_lhs.leftCols(diagSize);
      |                                   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   [ skipping 10 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 1, 2, 3>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 1, 2, 3>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 1, 2, 3>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, -1, -1, 1, 2, 3> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, -1, -1, 1, 2, 3> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 1, 2, 3> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h: In instantiation of ‘void Eigen::internal::gemm_pack_rhs<Scalar, Index, DataMapper, nr, 0, Conjugate, PanelMode>::operator()(Scalar*, const DataMapper&, Index, Index, Index, Index) [with Scalar = double; Index = long int; DataMapper = Eigen::internal::const_blas_data_mapper<double, long int, 0>; int nr = 4; bool Conjugate = false; bool PanelMode = false]’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:175:15:   required from ‘static void Eigen::internal::product_triangular_matrix_matrix<Scalar, Index, Mode, true, LhsStorageOrder, ConjugateLhs, RhsStorageOrder, ConjugateRhs, 0, ResInnerStride, Version>::run(Index, Index, Index, const Scalar*, Index, const Scalar*, Index, Scalar*, Index, Index, const Scalar&, Eigen::internal::level3_blocking<Scalar, Scalar>&) [with Scalar = double; Index = long int; int Mode = 5; int LhsStorageOrder = 0; bool ConjugateLhs = false; int RhsStorageOrder = 0; bool ConjugateRhs = false; int ResInnerStride = 1; int Version = 0]’
  175 |       pack_rhs(blockB, rhs.getSubMapper(actual_k2,0), actual_kc, cols);
      |       ~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:443:12:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, LhsIsTriangular, Lhs, false, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; int Mode = 5; bool LhsIsTriangular = true; Lhs = const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; typename Dest::Scalar = double]’
  438 |     internal::product_triangular_matrix_matrix<Scalar, Index,
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  439 |       Mode, LhsIsTriangular,
      |       ~~~~~~~~~~~~~~~~~~~~~~
  440 |       (internal::traits<ActualLhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  441 |       (internal::traits<ActualRhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  442 |       (internal::traits<Dest          >::Flags&RowMajorBit) ? RowMajor : ColMajor, Dest::InnerStrideAtCompileTime>
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  443 |       ::run(
      |       ~~~~~^
  444 |         stripedRows, stripedCols, stripedDepth,   // sizes
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  445 |         &lhs.coeffRef(0,0), lhs.outerStride(),    // lhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  446 |         &rhs.coeffRef(0,0), rhs.outerStride(),    // rhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  447 |         &dst.coeffRef(0,0), dst.innerStride(), dst.outerStride(),    // result info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  448 |         actualAlpha, blocking
      |         ~~~~~~~~~~~~~~~~~~~~~
  449 |       );
      |       ~     
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   required from ‘static void Eigen::internal::generic_product_impl<Lhs, Rhs, Eigen::TriangularShape, Eigen::DenseShape, ProductTag>::scaleAndAddTo(Dest&, const Lhs&, const Rhs&, const Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Lhs = Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; int ProductTag = 3; Scalar = double]’
  769 |     triangular_product_impl<Lhs::Mode,true,typename Lhs::MatrixType,false,Rhs, Rhs::ColsAtCompileTime==1>
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  770 |         ::run(dst, lhs.nestedExpression(), rhs, alpha);
      |         ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:361:27:   required from ‘static void Eigen::internal::generic_product_impl_base<Lhs, Rhs, Derived>::scaleAndAddTo(Dst&, const Lhs&, const Rhs&, const Scalar&) [with Dst = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Lhs = Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; Derived = Eigen::internal::generic_product_impl<Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, Eigen::TriangularShape, Eigen::DenseShape, 3>; Scalar = double]’
  361 |   { Derived::scaleAndAddTo(dst,lhs,rhs,alpha); }
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:357:18:   required from ‘static void Eigen::internal::generic_product_impl_base<Lhs, Rhs, Derived>::subTo(Dst&, const Lhs&, const Rhs&) [with Dst = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Lhs = Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; Derived = Eigen::internal::generic_product_impl<Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, Eigen::TriangularShape, Eigen::DenseShape, 3>]’
  357 |   { scaleAndAddTo(dst, lhs, rhs, Scalar(-1)); }
      |     ~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:178:42:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:2459:62: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 2459 |           PacketBlock<Packet,(PacketSize%4)==0?4:PacketSize> kernel;
      |                                                              ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h: In instantiation of ‘void Eigen::internal::gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, Packet, 0, Conjugate, PanelMode>::operator()(Scalar*, const DataMapper&, Index, Index, Index, Index) [with Scalar = double; Index = long int; DataMapper = Eigen::internal::const_blas_data_mapper<double, long int, 0>; int Pack1 = 4; int Pack2 = 2; Packet = __vector(2) double; bool Conjugate = false; bool PanelMode = false]’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:203:19:   required from ‘static void Eigen::internal::product_triangular_matrix_matrix<Scalar, Index, Mode, true, LhsStorageOrder, ConjugateLhs, RhsStorageOrder, ConjugateRhs, 0, ResInnerStride, Version>::run(Index, Index, Index, const Scalar*, Index, const Scalar*, Index, Scalar*, Index, Index, const Scalar&, Eigen::internal::level3_blocking<Scalar, Scalar>&) [with Scalar = double; Index = long int; int Mode = 5; int LhsStorageOrder = 0; bool ConjugateLhs = false; int RhsStorageOrder = 0; bool ConjugateRhs = false; int ResInnerStride = 1; int Version = 0]’
  203 |           pack_lhs(blockA, LhsMapper(triangularBuffer.data(), triangularBuffer.outerStride()), actualPanelWidth, actualPanelWidth);
      |           ~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:443:12:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, LhsIsTriangular, Lhs, false, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; int Mode = 5; bool LhsIsTriangular = true; Lhs = const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; typename Dest::Scalar = double]’
  438 |     internal::product_triangular_matrix_matrix<Scalar, Index,
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  439 |       Mode, LhsIsTriangular,
      |       ~~~~~~~~~~~~~~~~~~~~~~
  440 |       (internal::traits<ActualLhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  441 |       (internal::traits<ActualRhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  442 |       (internal::traits<Dest          >::Flags&RowMajorBit) ? RowMajor : ColMajor, Dest::InnerStrideAtCompileTime>
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  443 |       ::run(
      |       ~~~~~^
  444 |         stripedRows, stripedCols, stripedDepth,   // sizes
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  445 |         &lhs.coeffRef(0,0), lhs.outerStride(),    // lhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  446 |         &rhs.coeffRef(0,0), rhs.outerStride(),    // rhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  447 |         &dst.coeffRef(0,0), dst.innerStride(), dst.outerStride(),    // result info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  448 |         actualAlpha, blocking
      |         ~~~~~~~~~~~~~~~~~~~~~
  449 |       );
      |       ~     
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   required from ‘static void Eigen::internal::generic_product_impl<Lhs, Rhs, Eigen::TriangularShape, Eigen::DenseShape, ProductTag>::scaleAndAddTo(Dest&, const Lhs&, const Rhs&, const Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Lhs = Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; int ProductTag = 3; Scalar = double]’
  769 |     triangular_product_impl<Lhs::Mode,true,typename Lhs::MatrixType,false,Rhs, Rhs::ColsAtCompileTime==1>
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  770 |         ::run(dst, lhs.nestedExpression(), rhs, alpha);
      |         ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:361:27:   required from ‘static void Eigen::internal::generic_product_impl_base<Lhs, Rhs, Derived>::scaleAndAddTo(Dst&, const Lhs&, const Rhs&, const Scalar&) [with Dst = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Lhs = Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; Derived = Eigen::internal::generic_product_impl<Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, Eigen::TriangularShape, Eigen::DenseShape, 3>; Scalar = double]’
  361 |   { Derived::scaleAndAddTo(dst,lhs,rhs,alpha); }
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:357:18:   required from ‘static void Eigen::internal::generic_product_impl_base<Lhs, Rhs, Derived>::subTo(Dst&, const Lhs&, const Rhs&) [with Dst = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Lhs = Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; Derived = Eigen::internal::generic_product_impl<Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, Eigen::TriangularShape, Eigen::DenseShape, 3>]’
  357 |   { scaleAndAddTo(dst, lhs, rhs, Scalar(-1)); }
      |     ~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:178:42:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:2100:82: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
 2100 |   typedef typename unpacket_traits<typename unpacket_traits<Packet>::half>::half QuarterPacket;
      |                                                                                  ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:2102:56: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
 2102 |          HalfPacketSize = unpacket_traits<HalfPacket>::size,
      |                                                        ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:2103:62: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
 2103 |          QuarterPacketSize = unpacket_traits<QuarterPacket>::size,
      |                                                              ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:2103:62: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h: In instantiation of ‘void Eigen::internal::gebp_kernel<LhsScalar, RhsScalar, Index, DataMapper, mr, nr, ConjugateLhs, ConjugateRhs>::operator()(const DataMapper&, const LhsScalar*, const RhsScalar*, Index, Index, Index, ResScalar, Index, Index, Index, Index) [with LhsScalar = double; RhsScalar = double; Index = long int; DataMapper = Eigen::internal::blas_data_mapper<double, long int, 0, 0, 1>; int mr = 4; int nr = 4; bool ConjugateLhs = false; bool ConjugateRhs = false; ResScalar = double]’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:205:22:   required from ‘static void Eigen::internal::product_triangular_matrix_matrix<Scalar, Index, Mode, true, LhsStorageOrder, ConjugateLhs, RhsStorageOrder, ConjugateRhs, 0, ResInnerStride, Version>::run(Index, Index, Index, const Scalar*, Index, const Scalar*, Index, Scalar*, Index, Index, const Scalar&, Eigen::internal::level3_blocking<Scalar, Scalar>&) [with Scalar = double; Index = long int; int Mode = 5; int LhsStorageOrder = 0; bool ConjugateLhs = false; int RhsStorageOrder = 0; bool ConjugateRhs = false; int ResInnerStride = 1; int Version = 0]’
  205 |           gebp_kernel(res.getSubMapper(startBlock, 0), blockA, blockB,
      |           ~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  206 |                       actualPanelWidth, actualPanelWidth, cols, alpha,
      |                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  207 |                       actualPanelWidth, actual_kc, 0, blockBOffset);
      |                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:443:12:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, LhsIsTriangular, Lhs, false, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; int Mode = 5; bool LhsIsTriangular = true; Lhs = const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; typename Dest::Scalar = double]’
  438 |     internal::product_triangular_matrix_matrix<Scalar, Index,
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  439 |       Mode, LhsIsTriangular,
      |       ~~~~~~~~~~~~~~~~~~~~~~
  440 |       (internal::traits<ActualLhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  441 |       (internal::traits<ActualRhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  442 |       (internal::traits<Dest          >::Flags&RowMajorBit) ? RowMajor : ColMajor, Dest::InnerStrideAtCompileTime>
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  443 |       ::run(
      |       ~~~~~^
  444 |         stripedRows, stripedCols, stripedDepth,   // sizes
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  445 |         &lhs.coeffRef(0,0), lhs.outerStride(),    // lhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  446 |         &rhs.coeffRef(0,0), rhs.outerStride(),    // rhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  447 |         &dst.coeffRef(0,0), dst.innerStride(), dst.outerStride(),    // result info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  448 |         actualAlpha, blocking
      |         ~~~~~~~~~~~~~~~~~~~~~
  449 |       );
      |       ~     
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   required from ‘static void Eigen::internal::generic_product_impl<Lhs, Rhs, Eigen::TriangularShape, Eigen::DenseShape, ProductTag>::scaleAndAddTo(Dest&, const Lhs&, const Rhs&, const Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Lhs = Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; int ProductTag = 3; Scalar = double]’
  769 |     triangular_product_impl<Lhs::Mode,true,typename Lhs::MatrixType,false,Rhs, Rhs::ColsAtCompileTime==1>
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  770 |         ::run(dst, lhs.nestedExpression(), rhs, alpha);
      |         ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:361:27:   required from ‘static void Eigen::internal::generic_product_impl_base<Lhs, Rhs, Derived>::scaleAndAddTo(Dst&, const Lhs&, const Rhs&, const Scalar&) [with Dst = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Lhs = Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; Derived = Eigen::internal::generic_product_impl<Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, Eigen::TriangularShape, Eigen::DenseShape, 3>; Scalar = double]’
  361 |   { Derived::scaleAndAddTo(dst,lhs,rhs,alpha); }
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:357:18:   required from ‘static void Eigen::internal::generic_product_impl_base<Lhs, Rhs, Derived>::subTo(Dst&, const Lhs&, const Rhs&) [with Dst = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Lhs = Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; Derived = Eigen::internal::generic_product_impl<Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, Eigen::TriangularShape, Eigen::DenseShape, 3>]’
  357 |   { scaleAndAddTo(dst, lhs, rhs, Scalar(-1)); }
      |     ~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:178:42:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:1920:103: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
 1920 |           const int SResPacketHalfSize = unpacket_traits<typename unpacket_traits<SResPacket>::half>::size;
      |                                                                                                       ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:1921:138: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
 1921 |           const int SResPacketQuarterSize = unpacket_traits<typename unpacket_traits<typename unpacket_traits<SResPacket>::half>::half>::size;
      |                                                                                                                                          ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:1921:138: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:1977:135: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
 1977 |               typedef typename conditional<SwappedTraits::LhsProgress>=8,typename unpacket_traits<SResPacket>::half,SResPacket>::type SResPacketHalf;
      |                                                                                                                                       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:1978:135: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
 1978 |               typedef typename conditional<SwappedTraits::LhsProgress>=8,typename unpacket_traits<SLhsPacket>::half,SLhsPacket>::type SLhsPacketHalf;
      |                                                                                                                                       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:1979:135: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
 1979 |               typedef typename conditional<SwappedTraits::LhsProgress>=8,typename unpacket_traits<SRhsPacket>::half,SRhsPacket>::type SRhsPacketHalf;
      |                                                                                                                                       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:1980:135: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
 1980 |               typedef typename conditional<SwappedTraits::LhsProgress>=8,typename unpacket_traits<SAccPacket>::half,SAccPacket>::type SAccPacketHalf;
      |                                                                                                                                       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true>, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from ‘class Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >’
   52 | template<typename MatrixType> class Transpose
      |                                     ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:618:37:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:618:52:   required from ‘const Eigen::internal::product_evaluator<Eigen::Product<Lhs, Rhs, 1>, ProductTag, Eigen::DenseShape, Eigen::DenseShape>::CoeffReturnType Eigen::internal::product_evaluator<Eigen::Product<Lhs, Rhs, 1>, ProductTag, Eigen::DenseShape, Eigen::DenseShape>::coeff(Eigen::Index) const [with Lhs = Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >; Rhs = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>; int ProductTag = 3; typename Eigen::internal::traits<typename Eigen::Product<Lhs, Rhs, 1>::Lhs>::Scalar = double; typename Eigen::Product<Lhs, Rhs, 1>::Lhs = Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >; typename Eigen::internal::traits<typename Eigen::Product<Lhs, Rhs, 1>::Rhs>::Scalar = double; typename Eigen::Product<Lhs, Rhs, 1>::Rhs = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>; CoeffReturnType = double; Eigen::Index = long int]’
  618 |     return (m_lhs.row(row).transpose().cwiseProduct( m_rhs.col(col) )).sum();
      |            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:660:61:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Map.h:94:79:   required from ‘class Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >’
   94 | template<typename PlainObjectType, int MapOptions, typename StrideType> class Map
      |                                                                               ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:115:18:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Map.h:94:79:   required from ‘class Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >’
   94 | template<typename PlainObjectType, int MapOptions, typename StrideType> class Map
      |                                                                               ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:119:18:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Map<Eigen::Matrix<double, -1, 1>, 0, Eigen::InnerStride<> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Map<Eigen::Matrix<double, -1, 1>, 0, Eigen::InnerStride<> >, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Map<Eigen::Matrix<double, -1, 1>, 0, Eigen::InnerStride<> >, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Map<Eigen::Matrix<double, -1, 1>, 0, Eigen::InnerStride<> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Map<Eigen::Matrix<double, -1, 1>, 0, Eigen::InnerStride<> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Map<Eigen::Matrix<double, -1, 1>, 0, Eigen::InnerStride<> >, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> >, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false>, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from ‘class Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> >’
   52 | template<typename MatrixType> class Transpose
      |                                     ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:137:106:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:137:77:   required from ‘static void Eigen::internal::triangular_matrix_vector_product<Index, Mode, LhsScalar, ConjLhs, RhsScalar, ConjRhs, 1, Version>::run(Index, Index, const LhsScalar*, Index, const RhsScalar*, Index, ResScalar*, Index, const ResScalar&) [with Index = long int; int Mode = 6; LhsScalar = double; bool ConjLhs = false; RhsScalar = double; bool ConjRhs = false; int Version = 0; ResScalar = double]’
  137 |           res.coeffRef(i) += alpha * (cjLhs.row(i).segment(s,r).cwiseProduct(cjRhs.segment(s,r).transpose())).sum();
      |                                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:332:12:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
In file included from /home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/Core:333:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h: In instantiation of ‘class Eigen::internal::gemv_traits<double, double, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:306:38:   required from ‘struct Eigen::internal::general_matrix_vector_product<long int, double, Eigen::internal::const_blas_data_mapper<double, long int, 1>, 1, false, double, Eigen::internal::const_blas_data_mapper<double, long int, 1>, false, 1>’
  306 |   typedef typename Traits::LhsPacket LhsPacket;
      |                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:145:123:   required from ‘static void Eigen::internal::triangular_matrix_vector_product<Index, Mode, LhsScalar, ConjLhs, RhsScalar, ConjRhs, 1, Version>::run(Index, Index, const LhsScalar*, Index, const RhsScalar*, Index, ResScalar*, Index, const ResScalar&) [with Index = long int; int Mode = 6; LhsScalar = double; bool ConjLhs = false; RhsScalar = double; bool ConjRhs = false; int Version = 0; ResScalar = double]’
  145 |         general_matrix_vector_product<Index,LhsScalar,LhsMapper,RowMajor,ConjLhs,RhsScalar,RhsMapper,ConjRhs,BuiltIn>::run(
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
  146 |             actualPanelWidth, r,
      |             ~~~~~~~~~~~~~~~~~~~~                                                                                           
  147 |             LhsMapper(&lhs.coeffRef(pi,s), lhsStride),
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~                                                                     
  148 |             RhsMapper(&rhs.coeffRef(s), rhsIncr),
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~                                                                          
  149 |             &res.coeffRef(pi), resIncr, alpha);
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~                                                                             
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:332:12:   required from ‘static void Eigen::internal::trmv_selector<Mode, 1>::run(const Lhs&, const Rhs&, Dest&, const typename Dest::Scalar&) [with Lhs = Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false> >; Rhs = Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >; Dest = Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >; int Mode = 6; typename Dest::Scalar = double]’
  327 |     internal::triangular_matrix_vector_product
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  328 |       <Index,Mode,
      |       ~~~~~~~~~~~~
  329 |        LhsScalar, LhsBlasTraits::NeedToConjugate,
      |        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  330 |        RhsScalar, RhsBlasTraits::NeedToConjugate,
      |        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  331 |        RowMajor>
      |        ~~~~~~~~~
  332 |       ::run(actualLhs.rows(),actualLhs.cols(),
      |       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  333 |             actualLhs.data(),actualLhs.outerStride(),
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  334 |             actualRhsPtr,1,
      |             ~~~~~~~~~~~~~~~
  335 |             dest.data(),dest.innerStride(),
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  336 |             actualAlpha);
      |             ~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:194:18:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, false, Lhs, true, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>; int Mode = 5; Lhs = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >; Rhs = const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>; typename Dest::Scalar = double]’
  192 |     internal::trmv_selector<(Mode & (UnitDiag|ZeroDiag)) | ((Mode & Lower) ? Upper : Lower),
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  193 |                             (int(internal::traits<Rhs>::Flags)&RowMajorBit) ? ColMajor : RowMajor>
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  194 |             ::run(rhs.transpose(),lhs.transpose(), dstT, alpha);
      |             ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:783:113:   required from ‘static void Eigen::internal::generic_product_impl<Lhs, Rhs, Eigen::DenseShape, Eigen::TriangularShape, ProductTag>::scaleAndAddTo(Dest&, const Lhs&, const Rhs&, const Scalar&) [with Dest = Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>; Lhs = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >; Rhs = Eigen::TriangularView<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 5>; int ProductTag = 3; Scalar = double]’
  783 |     triangular_product_impl<Rhs::Mode,false,Lhs,Lhs::RowsAtCompileTime==1, typename Rhs::MatrixType, false>::run(dst, lhs, rhs.nestedExpression(), alpha);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:361:27:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:44:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   44 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:44:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   44 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:44:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   44 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:44:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   44 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:45:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   45 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:45:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   45 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:45:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   45 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:45:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   45 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:46:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   46 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:46:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   46 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:46:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   46 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:46:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   46 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:51:53: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   51 |         Vectorizable = unpacket_traits<_LhsPacket>::vectorizable &&
      |                                                     ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:51:53: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:51:53: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:51:53: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:52:38: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   52 |         unpacket_traits<_RhsPacket>::vectorizable &&
      |                                      ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:52:38: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:52:38: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:52:38: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:42: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   53 |         int(unpacket_traits<_LhsPacket>::size)==int(unpacket_traits<_RhsPacket>::size),
      |                                          ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:42: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:42: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:42: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:82: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   53 |         int(unpacket_traits<_LhsPacket>::size)==int(unpacket_traits<_RhsPacket>::size),
      |                                                                                  ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:82: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:82: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:82: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:54:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   54 |         LhsPacketSize = Vectorizable ? unpacket_traits<_LhsPacket>::size : 1,
      |                                                                     ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:54:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:54:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:54:69: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:55:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   55 |         RhsPacketSize = Vectorizable ? unpacket_traits<_RhsPacket>::size : 1,
      |                                                                     ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:55:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:55:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:55:69: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:56:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |         ResPacketSize = Vectorizable ? unpacket_traits<_ResPacket>::size : 1
      |                                                                     ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:56:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:56:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:56:69: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:59:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   59 |   typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
      |                                                                         ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:59:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:59:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:59:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:60:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   60 |   typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
      |                                                                         ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:60:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:60:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:60:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:61:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   61 |   typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
      |                                                                         ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:61:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:61:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:61:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h: In instantiation of ‘class Eigen::internal::gemv_traits<double, double, 1>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:310:42:   required from ‘struct Eigen::internal::general_matrix_vector_product<long int, double, Eigen::internal::const_blas_data_mapper<double, long int, 1>, 1, false, double, Eigen::internal::const_blas_data_mapper<double, long int, 1>, false, 1>’
  310 |   typedef typename HalfTraits::LhsPacket LhsPacketHalf;
      |                                          ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:145:123:   required from ‘static void Eigen::internal::triangular_matrix_vector_product<Index, Mode, LhsScalar, ConjLhs, RhsScalar, ConjRhs, 1, Version>::run(Index, Index, const LhsScalar*, Index, const RhsScalar*, Index, ResScalar*, Index, const ResScalar&) [with Index = long int; int Mode = 6; LhsScalar = double; bool ConjLhs = false; RhsScalar = double; bool ConjRhs = false; int Version = 0; ResScalar = double]’
  145 |         general_matrix_vector_product<Index,LhsScalar,LhsMapper,RowMajor,ConjLhs,RhsScalar,RhsMapper,ConjRhs,BuiltIn>::run(
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
  146 |             actualPanelWidth, r,
      |             ~~~~~~~~~~~~~~~~~~~~                                                                                           
  147 |             LhsMapper(&lhs.coeffRef(pi,s), lhsStride),
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~                                                                     
  148 |             RhsMapper(&rhs.coeffRef(s), rhsIncr),
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~                                                                          
  149 |             &res.coeffRef(pi), resIncr, alpha);
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~                                                                             
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:332:12:   required from ‘static void Eigen::internal::trmv_selector<Mode, 1>::run(const Lhs&, const Rhs&, Dest&, const typename Dest::Scalar&) [with Lhs = Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false> >; Rhs = Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >; Dest = Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >; int Mode = 6; typename Dest::Scalar = double]’
  327 |     internal::triangular_matrix_vector_product
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  328 |       <Index,Mode,
      |       ~~~~~~~~~~~~
  329 |        LhsScalar, LhsBlasTraits::NeedToConjugate,
      |        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  330 |        RhsScalar, RhsBlasTraits::NeedToConjugate,
      |        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  331 |        RowMajor>
      |        ~~~~~~~~~
  332 |       ::run(actualLhs.rows(),actualLhs.cols(),
      |       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  333 |             actualLhs.data(),actualLhs.outerStride(),
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  334 |             actualRhsPtr,1,
      |             ~~~~~~~~~~~~~~~
  335 |             dest.data(),dest.innerStride(),
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  336 |             actualAlpha);
      |             ~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:194:18:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, false, Lhs, true, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>; int Mode = 5; Lhs = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >; Rhs = const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>; typename Dest::Scalar = double]’
  192 |     internal::trmv_selector<(Mode & (UnitDiag|ZeroDiag)) | ((Mode & Lower) ? Upper : Lower),
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  193 |                             (int(internal::traits<Rhs>::Flags)&RowMajorBit) ? ColMajor : RowMajor>
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  194 |             ::run(rhs.transpose(),lhs.transpose(), dstT, alpha);
      |             ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:783:113:   required from ‘static void Eigen::internal::generic_product_impl<Lhs, Rhs, Eigen::DenseShape, Eigen::TriangularShape, ProductTag>::scaleAndAddTo(Dest&, const Lhs&, const Rhs&, const Scalar&) [with Dest = Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>; Lhs = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >; Rhs = Eigen::TriangularView<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 5>; int ProductTag = 3; Scalar = double]’
  783 |     triangular_product_impl<Rhs::Mode,false,Lhs,Lhs::RowsAtCompileTime==1, typename Rhs::MatrixType, false>::run(dst, lhs, rhs.nestedExpression(), alpha);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:361:27:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:44:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   44 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:44:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   44 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:44:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   44 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:44:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   44 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:45:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   45 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:45:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   45 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:45:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   45 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:45:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   45 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:46:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   46 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:46:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   46 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:46:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   46 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:46:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   46 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:51:53: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   51 |         Vectorizable = unpacket_traits<_LhsPacket>::vectorizable &&
      |                                                     ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:51:53: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:51:53: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:51:53: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:52:38: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   52 |         unpacket_traits<_RhsPacket>::vectorizable &&
      |                                      ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:52:38: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:52:38: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:52:38: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:42: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   53 |         int(unpacket_traits<_LhsPacket>::size)==int(unpacket_traits<_RhsPacket>::size),
      |                                          ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:42: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:42: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:42: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:82: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   53 |         int(unpacket_traits<_LhsPacket>::size)==int(unpacket_traits<_RhsPacket>::size),
      |                                                                                  ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:82: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:82: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:82: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:54:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   54 |         LhsPacketSize = Vectorizable ? unpacket_traits<_LhsPacket>::size : 1,
      |                                                                     ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:54:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:54:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:54:69: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:55:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   55 |         RhsPacketSize = Vectorizable ? unpacket_traits<_RhsPacket>::size : 1,
      |                                                                     ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:55:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:55:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:55:69: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:56:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |         ResPacketSize = Vectorizable ? unpacket_traits<_ResPacket>::size : 1
      |                                                                     ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:56:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:56:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:56:69: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:59:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   59 |   typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
      |                                                                         ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:59:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:59:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:59:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:60:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   60 |   typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
      |                                                                         ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:60:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:60:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:60:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:61:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   61 |   typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
      |                                                                         ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:61:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:61:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:61:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h: In instantiation of ‘class Eigen::internal::gemv_traits<double, double, 2>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:314:45:   required from ‘struct Eigen::internal::general_matrix_vector_product<long int, double, Eigen::internal::const_blas_data_mapper<double, long int, 1>, 1, false, double, Eigen::internal::const_blas_data_mapper<double, long int, 1>, false, 1>’
  314 |   typedef typename QuarterTraits::LhsPacket LhsPacketQuarter;
      |                                             ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:145:123:   required from ‘static void Eigen::internal::triangular_matrix_vector_product<Index, Mode, LhsScalar, ConjLhs, RhsScalar, ConjRhs, 1, Version>::run(Index, Index, const LhsScalar*, Index, const RhsScalar*, Index, ResScalar*, Index, const ResScalar&) [with Index = long int; int Mode = 6; LhsScalar = double; bool ConjLhs = false; RhsScalar = double; bool ConjRhs = false; int Version = 0; ResScalar = double]’
  145 |         general_matrix_vector_product<Index,LhsScalar,LhsMapper,RowMajor,ConjLhs,RhsScalar,RhsMapper,ConjRhs,BuiltIn>::run(
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
  146 |             actualPanelWidth, r,
      |             ~~~~~~~~~~~~~~~~~~~~                                                                                           
  147 |             LhsMapper(&lhs.coeffRef(pi,s), lhsStride),
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~                                                                     
  148 |             RhsMapper(&rhs.coeffRef(s), rhsIncr),
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~                                                                          
  149 |             &res.coeffRef(pi), resIncr, alpha);
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~                                                                             
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:332:12:   required from ‘static void Eigen::internal::trmv_selector<Mode, 1>::run(const Lhs&, const Rhs&, Dest&, const typename Dest::Scalar&) [with Lhs = Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false> >; Rhs = Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >; Dest = Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >; int Mode = 6; typename Dest::Scalar = double]’
  327 |     internal::triangular_matrix_vector_product
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  328 |       <Index,Mode,
      |       ~~~~~~~~~~~~
  329 |        LhsScalar, LhsBlasTraits::NeedToConjugate,
      |        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  330 |        RhsScalar, RhsBlasTraits::NeedToConjugate,
      |        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  331 |        RowMajor>
      |        ~~~~~~~~~
  332 |       ::run(actualLhs.rows(),actualLhs.cols(),
      |       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  333 |             actualLhs.data(),actualLhs.outerStride(),
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  334 |             actualRhsPtr,1,
      |             ~~~~~~~~~~~~~~~
  335 |             dest.data(),dest.innerStride(),
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  336 |             actualAlpha);
      |             ~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:194:18:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, false, Lhs, true, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>; int Mode = 5; Lhs = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >; Rhs = const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>; typename Dest::Scalar = double]’
  192 |     internal::trmv_selector<(Mode & (UnitDiag|ZeroDiag)) | ((Mode & Lower) ? Upper : Lower),
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  193 |                             (int(internal::traits<Rhs>::Flags)&RowMajorBit) ? ColMajor : RowMajor>
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  194 |             ::run(rhs.transpose(),lhs.transpose(), dstT, alpha);
      |             ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:783:113:   required from ‘static void Eigen::internal::generic_product_impl<Lhs, Rhs, Eigen::DenseShape, Eigen::TriangularShape, ProductTag>::scaleAndAddTo(Dest&, const Lhs&, const Rhs&, const Scalar&) [with Dest = Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>; Lhs = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >; Rhs = Eigen::TriangularView<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 5>; int ProductTag = 3; Scalar = double]’
  783 |     triangular_product_impl<Rhs::Mode,false,Lhs,Lhs::RowsAtCompileTime==1, typename Rhs::MatrixType, false>::run(dst, lhs, rhs.nestedExpression(), alpha);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:361:27:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:44:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   44 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:44:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   44 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:44:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   44 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:44:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   44 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:45:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   45 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:45:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   45 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:45:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   45 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:45:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   45 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:46:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   46 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:46:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   46 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:46:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   46 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:46:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   46 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:51:53: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   51 |         Vectorizable = unpacket_traits<_LhsPacket>::vectorizable &&
      |                                                     ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:51:53: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:51:53: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:51:53: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:52:38: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   52 |         unpacket_traits<_RhsPacket>::vectorizable &&
      |                                      ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:52:38: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:52:38: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:52:38: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:42: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   53 |         int(unpacket_traits<_LhsPacket>::size)==int(unpacket_traits<_RhsPacket>::size),
      |                                          ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:42: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:42: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:42: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:82: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   53 |         int(unpacket_traits<_LhsPacket>::size)==int(unpacket_traits<_RhsPacket>::size),
      |                                                                                  ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:82: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:82: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:82: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:54:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   54 |         LhsPacketSize = Vectorizable ? unpacket_traits<_LhsPacket>::size : 1,
      |                                                                     ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:54:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:54:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:54:69: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:55:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   55 |         RhsPacketSize = Vectorizable ? unpacket_traits<_RhsPacket>::size : 1,
      |                                                                     ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:55:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:55:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:55:69: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:56:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |         ResPacketSize = Vectorizable ? unpacket_traits<_ResPacket>::size : 1
      |                                                                     ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:56:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:56:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:56:69: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:59:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   59 |   typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
      |                                                                         ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:59:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:59:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:59:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:60:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   60 |   typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
      |                                                                         ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:60:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:60:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:60:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:61:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   61 |   typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
      |                                                                         ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:61:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:61:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:61:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 8, 8, 1, 8, 8>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 8, 8, 1, 8, 8>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 8, 8, 1, 8, 8>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 8, 8, 1, 8, 8> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 8, 8, 1, 8, 8> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 8, 8, 1, 8, 8> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 13 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 1, 8, 8>, 0>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 1, 8, 8>, 0>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 1, 8, 8>, 0>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 1, 8, 8>, 0> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 1, 8, 8>, 0> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Diagonal.h:63:53:   required from ‘class Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 1, 8, 8>, 0>’
   63 | template<typename MatrixType, int _DiagIndex> class Diagonal
      |                                                     ^~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:153:32:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 8, 8, 0, 8, 8> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 8, 8, 0, 8, 8> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 8, 8, 0, 8, 8> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 8, 8, 0, 8, 8> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:347:30:   required from ‘Derived& Eigen::DenseBase<Derived>::setConstant(const Scalar&) [with Derived = Eigen::Matrix<double, 8, 8, 0, 8, 8>; Scalar = double]’
  347 |   return derived() = Constant(rows(), cols(), val);
      |                      ~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:548:10:   required from ‘Derived& Eigen::DenseBase<Derived>::setZero() [with Derived = Eigen::Matrix<double, 8, 8, 0, 8, 8>]’
  548 |   return setConstant(Scalar(0));
      |          ^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:151:29:   [ skipping 10 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 8, 1, 0, 8, 1> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 8, 1, 0, 8, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 8, 1, 0, 8, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 8, 1, 0, 8, 1> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:347:30:   required from ‘Derived& Eigen::DenseBase<Derived>::setConstant(const Scalar&) [with Derived = Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 0>; Scalar = double]’
  347 |   return derived() = Constant(rows(), cols(), val);
      |                      ~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:548:10:   required from ‘Derived& Eigen::DenseBase<Derived>::setZero() [with Derived = Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 0>]’
  548 |   return setConstant(Scalar(0));
      |          ^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:153:42:   [ skipping 10 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true>, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from ‘class Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >’
   52 | template<typename MatrixType> class Transpose
      |                                     ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:618:37:   [ skipping 13 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:618:52:   required from ‘const Eigen::internal::product_evaluator<Eigen::Product<Lhs, Rhs, 1>, ProductTag, Eigen::DenseShape, Eigen::DenseShape>::CoeffReturnType Eigen::internal::product_evaluator<Eigen::Product<Lhs, Rhs, 1>, ProductTag, Eigen::DenseShape, Eigen::DenseShape>::coeff(Eigen::Index) const [with Lhs = Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >; Rhs = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>; int ProductTag = 3; typename Eigen::internal::traits<typename Eigen::Product<Lhs, Rhs, 1>::Lhs>::Scalar = double; typename Eigen::Product<Lhs, Rhs, 1>::Lhs = Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >; typename Eigen::internal::traits<typename Eigen::Product<Lhs, Rhs, 1>::Rhs>::Scalar = double; typename Eigen::Product<Lhs, Rhs, 1>::Rhs = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>; CoeffReturnType = double; Eigen::Index = long int]’
  618 |     return (m_lhs.row(row).transpose().cwiseProduct( m_rhs.col(col) )).sum();
      |            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:660:61:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false>, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from ‘class Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >’
   52 | template<typename MatrixType> class Transpose
      |                                     ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:618:37:   [ skipping 13 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >, const Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >, const Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >, const Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >, const Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >, const Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:618:52:   required from ‘const Eigen::internal::product_evaluator<Eigen::Product<Lhs, Rhs, 1>, ProductTag, Eigen::DenseShape, Eigen::DenseShape>::CoeffReturnType Eigen::internal::product_evaluator<Eigen::Product<Lhs, Rhs, 1>, ProductTag, Eigen::DenseShape, Eigen::DenseShape>::coeff(Eigen::Index) const [with Lhs = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>; Rhs = Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>; int ProductTag = 3; typename Eigen::internal::traits<typename Eigen::Product<Lhs, Rhs, 1>::Lhs>::Scalar = double; typename Eigen::Product<Lhs, Rhs, 1>::Lhs = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>; typename Eigen::internal::traits<typename Eigen::Product<Lhs, Rhs, 1>::Rhs>::Scalar = double; typename Eigen::Product<Lhs, Rhs, 1>::Rhs = Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>; CoeffReturnType = double; Eigen::Index = long int]’
  618 |     return (m_lhs.row(row).transpose().cwiseProduct( m_rhs.col(col) )).sum();
      |            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:660:61:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false>, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from ‘class Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >’
   52 | template<typename MatrixType> class Transpose
      |                                     ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:606:37:   [ skipping 13 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:606:52:   required from ‘const Eigen::internal::product_evaluator<Eigen::Product<Lhs, Rhs, 1>, ProductTag, Eigen::DenseShape, Eigen::DenseShape>::CoeffReturnType Eigen::internal::product_evaluator<Eigen::Product<Lhs, Rhs, 1>, ProductTag, Eigen::DenseShape, Eigen::DenseShape>::coeff(Eigen::Index, Eigen::Index) const [with Lhs = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >; Rhs = Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >; int ProductTag = 4; typename Eigen::internal::traits<typename Eigen::Product<Lhs, Rhs, 1>::Lhs>::Scalar = double; typename Eigen::Product<Lhs, Rhs, 1>::Lhs = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >; typename Eigen::internal::traits<typename Eigen::Product<Lhs, Rhs, 1>::Rhs>::Scalar = double; typename Eigen::Product<Lhs, Rhs, 1>::Rhs = Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >; CoeffReturnType = double; Eigen::Index = long int]’
  606 |     return (m_lhs.row(row).transpose().cwiseProduct( m_rhs.col(col) )).sum();
      |            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:654:63:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:606:52:   required from ‘const Eigen::internal::product_evaluator<Eigen::Product<Lhs, Rhs, 1>, ProductTag, Eigen::DenseShape, Eigen::DenseShape>::CoeffReturnType Eigen::internal::product_evaluator<Eigen::Product<Lhs, Rhs, 1>, ProductTag, Eigen::DenseShape, Eigen::DenseShape>::coeff(Eigen::Index, Eigen::Index) const [with Lhs = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >; Rhs = Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >; int ProductTag = 4; typename Eigen::internal::traits<typename Eigen::Product<Lhs, Rhs, 1>::Lhs>::Scalar = double; typename Eigen::Product<Lhs, Rhs, 1>::Lhs = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >; typename Eigen::internal::traits<typename Eigen::Product<Lhs, Rhs, 1>::Rhs>::Scalar = double; typename Eigen::Product<Lhs, Rhs, 1>::Rhs = Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >; CoeffReturnType = double; Eigen::Index = long int]’
  606 |     return (m_lhs.row(row).transpose().cwiseProduct( m_rhs.col(col) )).sum();
      |            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:654:63:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h: In instantiation of ‘void Eigen::internal::gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, Packet, 1, Conjugate, PanelMode>::operator()(Scalar*, const DataMapper&, Index, Index, Index, Index) [with Scalar = double; Index = long int; DataMapper = Eigen::internal::const_blas_data_mapper<double, long int, 1>; int Pack1 = 4; int Pack2 = 2; Packet = __vector(2) double; bool Conjugate = false; bool PanelMode = false]’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:203:19:   required from ‘static void Eigen::internal::product_triangular_matrix_matrix<Scalar, Index, Mode, true, LhsStorageOrder, ConjugateLhs, RhsStorageOrder, ConjugateRhs, 0, ResInnerStride, Version>::run(Index, Index, Index, const Scalar*, Index, const Scalar*, Index, Scalar*, Index, Index, const Scalar&, Eigen::internal::level3_blocking<Scalar, Scalar>&) [with Scalar = double; Index = long int; int Mode = 6; int LhsStorageOrder = 1; bool ConjugateLhs = false; int RhsStorageOrder = 0; bool ConjugateRhs = false; int ResInnerStride = 1; int Version = 0]’
  203 |           pack_lhs(blockA, LhsMapper(triangularBuffer.data(), triangularBuffer.outerStride()), actualPanelWidth, actualPanelWidth);
      |           ~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:443:12:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, LhsIsTriangular, Lhs, false, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Matrix<double, -1, -1, 0, 2, 3>; int Mode = 6; bool LhsIsTriangular = true; Lhs = const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >; Rhs = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; typename Dest::Scalar = double]’
  438 |     internal::product_triangular_matrix_matrix<Scalar, Index,
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  439 |       Mode, LhsIsTriangular,
      |       ~~~~~~~~~~~~~~~~~~~~~~
  440 |       (internal::traits<ActualLhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  441 |       (internal::traits<ActualRhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  442 |       (internal::traits<Dest          >::Flags&RowMajorBit) ? RowMajor : ColMajor, Dest::InnerStrideAtCompileTime>
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  443 |       ::run(
      |       ~~~~~^
  444 |         stripedRows, stripedCols, stripedDepth,   // sizes
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  445 |         &lhs.coeffRef(0,0), lhs.outerStride(),    // lhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  446 |         &rhs.coeffRef(0,0), rhs.outerStride(),    // rhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  447 |         &dst.coeffRef(0,0), dst.innerStride(), dst.outerStride(),    // result info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  448 |         actualAlpha, blocking
      |         ~~~~~~~~~~~~~~~~~~~~~
  449 |       );
      |       ~     
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   required from ‘static void Eigen::internal::generic_product_impl<Lhs, Rhs, Eigen::TriangularShape, Eigen::DenseShape, ProductTag>::scaleAndAddTo(Dest&, const Lhs&, const Rhs&, const Scalar&) [with Dest = Eigen::Matrix<double, -1, -1, 0, 2, 3>; Lhs = Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 6>; Rhs = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; int ProductTag = 3; Scalar = double]’
  769 |     triangular_product_impl<Lhs::Mode,true,typename Lhs::MatrixType,false,Rhs, Rhs::ColsAtCompileTime==1>
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  770 |         ::run(dst, lhs.nestedExpression(), rhs, alpha);
      |         ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:361:27:   required from ‘static void Eigen::internal::generic_product_impl_base<Lhs, Rhs, Derived>::scaleAndAddTo(Dst&, const Lhs&, const Rhs&, const Scalar&) [with Dst = Eigen::Matrix<double, -1, -1, 0, 2, 3>; Lhs = Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 6>; Rhs = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Derived = Eigen::internal::generic_product_impl<Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 6>, Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, Eigen::TriangularShape, Eigen::DenseShape, 3>; Scalar = double]’
  361 |   { Derived::scaleAndAddTo(dst,lhs,rhs,alpha); }
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:349:33:   required from ‘static void Eigen::internal::generic_product_impl_base<Lhs, Rhs, Derived>::evalTo(Dst&, const Lhs&, const Rhs&) [with Dst = Eigen::Matrix<double, -1, -1, 0, 2, 3>; Lhs = Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 6>; Rhs = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Derived = Eigen::internal::generic_product_impl<Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 6>, Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, Eigen::TriangularShape, Eigen::DenseShape, 3>]’
  349 |   { dst.setZero(); scaleAndAddTo(dst, lhs, rhs, Scalar(1)); }
      |                    ~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:148:43:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:2256:82: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
 2256 |   typedef typename unpacket_traits<typename unpacket_traits<Packet>::half>::half QuarterPacket;
      |                                                                                  ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:2258:56: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
 2258 |          HalfPacketSize = unpacket_traits<HalfPacket>::size,
      |                                                        ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:2259:62: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
 2259 |          QuarterPacketSize = unpacket_traits<QuarterPacket>::size,
      |                                                              ^~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:2259:62: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:2298:39: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
 2298 |               PacketBlock<HalfPacket> kernel_half;
      |                                       ^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:2298:39: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:2304:42: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
 2304 |               PacketBlock<QuarterPacket> kernel_quarter;
      |                                          ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:2304:42: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:2304:42: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:2304:42: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 16 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:606:52:   required from ‘const Eigen::internal::product_evaluator<Eigen::Product<Lhs, Rhs, 1>, ProductTag, Eigen::DenseShape, Eigen::DenseShape>::CoeffReturnType Eigen::internal::product_evaluator<Eigen::Product<Lhs, Rhs, 1>, ProductTag, Eigen::DenseShape, Eigen::DenseShape>::coeff(Eigen::Index, Eigen::Index) const [with Lhs = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >; Rhs = Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >; int ProductTag = 4; typename Eigen::internal::traits<typename Eigen::Product<Lhs, Rhs, 1>::Lhs>::Scalar = double; typename Eigen::Product<Lhs, Rhs, 1>::Lhs = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >; typename Eigen::internal::traits<typename Eigen::Product<Lhs, Rhs, 1>::Rhs>::Scalar = double; typename Eigen::Product<Lhs, Rhs, 1>::Rhs = Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >; CoeffReturnType = double; Eigen::Index = long int]’
  606 |     return (m_lhs.row(row).transpose().cwiseProduct( m_rhs.col(col) )).sum();
      |            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:654:63:   [ skipping 13 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:311:41:   required from ‘struct Eigen::internal::unary_evaluator<Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, Eigen::internal::IndexBased, double>’
  311 |     CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
      |                                         ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:90:8:   required from ‘struct Eigen::internal::evaluator<Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> > >’
   90 | struct evaluator : public unary_evaluator<T>
      |        ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> > >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:41:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                         ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   [ skipping 16 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:78:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                                                              ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> > >’
  722 | struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:357:7:   required from ‘class Eigen::internal::redux_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> > >’
  357 | class redux_evaluator : public internal::evaluator<_XprType>
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:414:17:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::redux(const Func&) const [with BinaryOp = Eigen::internal::scalar_sum_op<double, double>; Derived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> >; typename Eigen::internal::traits<T>::Scalar = double]’
  414 |   ThisEvaluator thisEval(derived());
      |                 ^~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   [ skipping 13 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1043:41:   required from ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false> >’
 1043 |     CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
      |                                         ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:41:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                         ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > > >’
  722 | struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:357:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:41:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                         ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > > >’
  722 | struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:357:7:   required from ‘class Eigen::internal::redux_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > > >’
  357 | class redux_evaluator : public internal::evaluator<_XprType>
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:414:17:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::redux(const Func&) const [with BinaryOp = Eigen::internal::scalar_sum_op<double, double>; Derived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > >; typename Eigen::internal::traits<T>::Scalar = double]’
  414 |   ThisEvaluator thisEval(derived());
      |                 ^~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   [ skipping 13 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:311:41:   required from ‘struct Eigen::internal::unary_evaluator<Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> >, Eigen::internal::IndexBased, double>’
  311 |     CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
      |                                         ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:90:8:   required from ‘struct Eigen::internal::evaluator<Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > >’
   90 | struct evaluator : public unary_evaluator<T>
      |        ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:78:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                                                              ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   [ skipping 16 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 8, 8, 1, 8, 8> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 8, 8, 1, 8, 8> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 8, 8, 1, 8, 8> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 8, 8, 1, 8, 8> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:347:30:   required from ‘Derived& Eigen::DenseBase<Derived>::setConstant(const Scalar&) [with Derived = Eigen::Matrix<double, 8, 8, 1, 8, 8>; Scalar = double]’
  347 |   return derived() = Constant(rows(), cols(), val);
      |                      ~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:548:10:   required from ‘Derived& Eigen::DenseBase<Derived>::setZero() [with Derived = Eigen::Matrix<double, 8, 8, 1, 8, 8>]’
  548 |   return setConstant(Scalar(0));
      |          ^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:151:29:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, 3> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, 3> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, 3> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, 3> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:347:30:   required from ‘Derived& Eigen::DenseBase<Derived>::setConstant(const Scalar&) [with Derived = Eigen::Matrix<double, -1, -1, 0, -1, 3>; Scalar = double]’
  347 |   return derived() = Constant(rows(), cols(), val);
      |                      ~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:548:10:   required from ‘Derived& Eigen::DenseBase<Derived>::setZero() [with Derived = Eigen::Matrix<double, -1, -1, 0, -1, 3>]’
  548 |   return setConstant(Scalar(0));
      |          ^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:349:16:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 8, 1, 0, 8, 1>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 8, 1, 0, 8, 1>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 8, 1, 0, 8, 1>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 8, 1, 0, 8, 1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 8, 1, 0, 8, 1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 8, 1, 0, 8, 1> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>; SrcXprType = Eigen::Block<const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false>; Functor = sub_assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>; SrcXprType = Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false>; Functor = Eigen::internal::sub_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>; Src = Eigen::Block<const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false>; Func = sub_assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>; Src = Eigen::Block<const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false>; Func = sub_assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:164:18:   required from ‘Derived& Eigen::MatrixBase<Derived>::operator-=(const Eigen::MatrixBase<OtherDerived>&) [with OtherDerived = Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false>; Derived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>]’
  164 |   call_assignment(derived(), other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:457:31:   [ skipping 9 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:78:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                                                              ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> > >’
  722 | struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, true>; SrcXprType = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> >; Functor = sub_assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, true>; SrcXprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> >; Functor = Eigen::internal::sub_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, true> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:780:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, true>; SrcXprType = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> >; Functor = sub_assign_op<double, double>]’
  780 |   DstEvaluatorType dstEvaluator(dst);
      |                    ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, true>; SrcXprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> >; Functor = Eigen::internal::sub_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, true>; Src = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> >; Func = sub_assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, true>; Src = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> >; Func = sub_assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:164:18:   required from ‘Derived& Eigen::MatrixBase<Derived>::operator-=(const Eigen::MatrixBase<OtherDerived>&) [with OtherDerived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> >; Derived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, true>]’
  164 |   call_assignment(derived(), other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:462:32:   [ skipping 9 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:311:41:   required from ‘struct Eigen::internal::unary_evaluator<Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, Eigen::internal::IndexBased, double>’
  311 |     CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
      |                                         ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:90:8:   required from ‘struct Eigen::internal::evaluator<Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> > >’
   90 | struct evaluator : public unary_evaluator<T>
      |        ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> > >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:41:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                         ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   [ skipping 17 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:78:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                                                              ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> > >’
  722 | struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:357:7:   required from ‘class Eigen::internal::redux_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> > >’
  357 | class redux_evaluator : public internal::evaluator<_XprType>
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:414:17:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::redux(const Func&) const [with BinaryOp = Eigen::internal::scalar_sum_op<double, double>; Derived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> >; typename Eigen::internal::traits<T>::Scalar = double]’
  414 |   ThisEvaluator thisEval(derived());
      |                 ^~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:311:41:   required from ‘struct Eigen::internal::unary_evaluator<Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >, Eigen::internal::IndexBased, double>’
  311 |     CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
      |                                         ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:90:8:   required from ‘struct Eigen::internal::evaluator<Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> > >’
   90 | struct evaluator : public unary_evaluator<T>
      |        ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> > >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:41:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >, const Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                         ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   [ skipping 17 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:78:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >, const Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                                                              ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >, const Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true> > >’
  722 | struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:357:7:   required from ‘class Eigen::internal::redux_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >, const Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true> > >’
  357 | class redux_evaluator : public internal::evaluator<_XprType>
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:414:17:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::redux(const Func&) const [with BinaryOp = Eigen::internal::scalar_sum_op<double, double>; Derived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >, const Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true> >; typename Eigen::internal::traits<T>::Scalar = double]’
  414 |   ThisEvaluator thisEval(derived());
      |                 ^~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:311:41:   required from ‘struct Eigen::internal::unary_evaluator<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, Eigen::internal::IndexBased, double>’
  311 |     CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
      |                                         ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:90:8:   required from ‘struct Eigen::internal::evaluator<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> > >’
   90 | struct evaluator : public unary_evaluator<T>
      |        ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> > >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:41:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                         ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   [ skipping 17 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:78:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                                                              ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false> > >’
  722 | struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:357:7:   required from ‘class Eigen::internal::redux_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false> > >’
  357 | class redux_evaluator : public internal::evaluator<_XprType>
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:414:17:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::redux(const Func&) const [with BinaryOp = Eigen::internal::scalar_sum_op<double, double>; Derived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false> >; typename Eigen::internal::traits<T>::Scalar = double]’
  414 |   ThisEvaluator thisEval(derived());
      |                 ^~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:78:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                                                              ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false> > >’
  722 | struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:357:7:   required from ‘class Eigen::internal::redux_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false> > >’
  357 | class redux_evaluator : public internal::evaluator<_XprType>
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:414:17:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::redux(const Func&) const [with BinaryOp = Eigen::internal::scalar_sum_op<double, double>; Derived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false> >; typename Eigen::internal::traits<T>::Scalar = double]’
  414 |   ThisEvaluator thisEval(derived());
      |                 ^~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 19 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, true>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, true>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, true>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 19 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 17 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:38:28:   required from ‘struct Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> > >’
   38 |                    >::type Scalar;
      |                            ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   [ skipping 16 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:462:59:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, LhsIsTriangular, Lhs, false, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Matrix<double, -1, -1, 0, -1, 3>; int Mode = 2; bool LhsIsTriangular = true; Lhs = Eigen::Matrix<double, -1, -1, 1, -1, -1>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; typename Dest::Scalar = double]’
  462 |         dst.leftCols(diagSize) -= (rhs_alpha-RhsScalar(1))*a_lhs.leftCols(diagSize);
      |                                   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 17 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:38:28:   required from ‘struct Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true> > >’
   38 |                    >::type Scalar;
      |                            ^~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   [ skipping 16 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true> >, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:462:59:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, LhsIsTriangular, Lhs, false, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Matrix<double, -1, -1, 0, -1, 3>; int Mode = 1; bool LhsIsTriangular = true; Lhs = const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; typename Dest::Scalar = double]’
  462 |         dst.leftCols(diagSize) -= (rhs_alpha-RhsScalar(1))*a_lhs.leftCols(diagSize);
      |                                   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1>, 0>’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, -1, -1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, -1, -1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 16 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:78:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                                                              ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false> > >’
  722 | struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:357:7:   required from ‘class Eigen::internal::redux_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false> > >’
  357 | class redux_evaluator : public internal::evaluator<_XprType>
      |       ^~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:414:17:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::redux(const Func&) const [with BinaryOp = Eigen::internal::scalar_sum_op<double, double>; Derived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false> >; typename Eigen::internal::traits<T>::Scalar = double]’
  414 |   ThisEvaluator thisEval(derived());
      |                 ^~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘Eigen::Index Eigen::internal::first_default_aligned(const Eigen::DenseBase<Derived>&) [with Derived = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> >; Eigen::Index = long int]’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:243:63:   required from ‘static Eigen::internal::redux_impl<Func, Evaluator, 3, 0>::Scalar Eigen::internal::redux_impl<Func, Evaluator, 3, 0>::run(const Evaluator&, const Func&, const XprType&) [with XprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> >; Func = Eigen::internal::scalar_sum_op<double, double>; Evaluator = Eigen::internal::redux_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> > >; Scalar = double]’
  243 |     const Index alignedStart = internal::first_default_aligned(xpr);
      |                                ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:418:56:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::redux(const Func&) const [with BinaryOp = Eigen::internal::scalar_sum_op<double, double>; Derived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> >; typename Eigen::internal::traits<T>::Scalar = double]’
  418 |   return internal::redux_impl<Func, ThisEvaluator>::run(thisEval, func, derived());
      |          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::sum() const [with Derived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> >; typename Eigen::internal::traits<T>::Scalar = double]’
  463 |   return derived().redux(Eigen::internal::scalar_sum_op<Scalar,Scalar>());
      |          ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:618:75:   required from ‘const Eigen::internal::product_evaluator<Eigen::Product<Lhs, Rhs, 1>, ProductTag, Eigen::DenseShape, Eigen::DenseShape>::CoeffReturnType Eigen::internal::product_evaluator<Eigen::Product<Lhs, Rhs, 1>, ProductTag, Eigen::DenseShape, Eigen::DenseShape>::coeff(Eigen::Index) const [with Lhs = Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >; Rhs = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>; int ProductTag = 3; typename Eigen::internal::traits<typename Eigen::Product<Lhs, Rhs, 1>::Lhs>::Scalar = double; typename Eigen::Product<Lhs, Rhs, 1>::Lhs = Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >; typename Eigen::internal::traits<typename Eigen::Product<Lhs, Rhs, 1>::Rhs>::Scalar = double; typename Eigen::Product<Lhs, Rhs, 1>::Rhs = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>; CoeffReturnType = double; Eigen::Index = long int]’
  618 |     return (m_lhs.row(row).transpose().cwiseProduct( m_rhs.col(col) )).sum();
      |            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:660:61:   required from ‘void Eigen::internal::generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version>::assignCoeff(Eigen::Index) [with DstEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> > >; SrcEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Product<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1> >; Functor = Eigen::internal::assign_op<double, double>; int Version = 0; Eigen::Index = long int]’
  660 |     m_functor.assignCoeff(m_dst.coeffRef(index), m_src.coeff(index));
      |                                                  ~~~~~~~~~~~^~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:518:25:   [ skipping 10 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:654:74: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  654 |   return internal::first_aligned<int(unpacket_traits<DefaultPacketType>::alignment),Derived>(m);
      |                                                                          ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘Eigen::Index Eigen::internal::first_default_aligned(const Eigen::DenseBase<Derived>&) [with Derived = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > >; Eigen::Index = long int]’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:243:63:   required from ‘static Eigen::internal::redux_impl<Func, Evaluator, 3, 0>::Scalar Eigen::internal::redux_impl<Func, Evaluator, 3, 0>::run(const Evaluator&, const Func&, const XprType&) [with XprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > >; Func = Eigen::internal::scalar_sum_op<double, double>; Evaluator = Eigen::internal::redux_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > > >; Scalar = double]’
  243 |     const Index alignedStart = internal::first_default_aligned(xpr);
      |                                ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:418:56:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::redux(const Func&) const [with BinaryOp = Eigen::internal::scalar_sum_op<double, double>; Derived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > >; typename Eigen::internal::traits<T>::Scalar = double]’
  418 |   return internal::redux_impl<Func, ThisEvaluator>::run(thisEval, func, derived());
      |          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::sum() const [with Derived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > >; typename Eigen::internal::traits<T>::Scalar = double]’
  463 |   return derived().redux(Eigen::internal::scalar_sum_op<Scalar,Scalar>());
      |          ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:137:114:   required from ‘static void Eigen::internal::triangular_matrix_vector_product<Index, Mode, LhsScalar, ConjLhs, RhsScalar, ConjRhs, 1, Version>::run(Index, Index, const LhsScalar*, Index, const RhsScalar*, Index, ResScalar*, Index, const ResScalar&) [with Index = long int; int Mode = 6; LhsScalar = double; bool ConjLhs = false; RhsScalar = double; bool ConjRhs = false; int Version = 0; ResScalar = double]’
  137 |           res.coeffRef(i) += alpha * (cjLhs.row(i).segment(s,r).cwiseProduct(cjRhs.segment(s,r).transpose())).sum();
      |                                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:332:12:   required from ‘static void Eigen::internal::trmv_selector<Mode, 1>::run(const Lhs&, const Rhs&, Dest&, const typename Dest::Scalar&) [with Lhs = Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false> >; Rhs = Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >; Dest = Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >; int Mode = 6; typename Dest::Scalar = double]’
  327 |     internal::triangular_matrix_vector_product
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  328 |       <Index,Mode,
      |       ~~~~~~~~~~~~
  329 |        LhsScalar, LhsBlasTraits::NeedToConjugate,
      |        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  330 |        RhsScalar, RhsBlasTraits::NeedToConjugate,
      |        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  331 |        RowMajor>
      |        ~~~~~~~~~
  332 |       ::run(actualLhs.rows(),actualLhs.cols(),
      |       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  333 |             actualLhs.data(),actualLhs.outerStride(),
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  334 |             actualRhsPtr,1,
      |             ~~~~~~~~~~~~~~~
  335 |             dest.data(),dest.innerStride(),
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  336 |             actualAlpha);
      |             ~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:194:18:   [ skipping 10 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:654:74: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  654 |   return internal::first_aligned<int(unpacket_traits<DefaultPacketType>::alignment),Derived>(m);
      |                                                                          ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1043:41:   required from ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> >’
 1043 |     CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
      |                                         ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:311:41:   required from ‘struct Eigen::internal::unary_evaluator<Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> >, Eigen::internal::IndexBased, double>’
  311 |     CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
      |                                         ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:90:8:   required from ‘struct Eigen::internal::evaluator<Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >’
   90 | struct evaluator : public unary_evaluator<T>
      |        ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   [ skipping 29 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:311:41:   required from ‘struct Eigen::internal::unary_evaluator<Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> >, Eigen::internal::IndexBased, double>’
  311 |     CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
      |                                         ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:90:8:   required from ‘struct Eigen::internal::evaluator<Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >’
   90 | struct evaluator : public unary_evaluator<T>
      |        ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:78:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                                                              ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   [ skipping 27 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:78:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                                                              ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> > >’
  722 | struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, -1, 1, false>; SrcXprType = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> >; Functor = sub_assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, -1, 1, false>; SrcXprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> >; Functor = Eigen::internal::sub_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, -1, 1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:780:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, -1, 1, false>; SrcXprType = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> >; Functor = sub_assign_op<double, double>]’
  780 |   DstEvaluatorType dstEvaluator(dst);
      |                    ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, -1, 1, false>; SrcXprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> >; Functor = Eigen::internal::sub_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, -1, 1, false>; Src = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> >; Func = sub_assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, -1, 1, false>; Src = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> >; Func = sub_assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:164:18:   required from ‘Derived& Eigen::MatrixBase<Derived>::operator-=(const Eigen::MatrixBase<OtherDerived>&) [with OtherDerived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> >; Derived = Eigen::Block<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, -1, 1, false>]’
  164 |   call_assignment(derived(), other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:341:27:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false>; SrcXprType = Eigen::Block<const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false>; Functor = sub_assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false>; SrcXprType = Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false>; Functor = Eigen::internal::sub_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false>; Src = Eigen::Block<const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false>; Func = sub_assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false>; Src = Eigen::Block<const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false>; Func = sub_assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:164:18:   required from ‘Derived& Eigen::MatrixBase<Derived>::operator-=(const Eigen::MatrixBase<OtherDerived>&) [with OtherDerived = Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false>; Derived = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false>]’
  164 |   call_assignment(derived(), other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:457:31:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:780:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false>; SrcXprType = Eigen::Block<const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false>; Functor = sub_assign_op<double, double>]’
  780 |   DstEvaluatorType dstEvaluator(dst);
      |                    ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false>; SrcXprType = Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false>; Functor = Eigen::internal::sub_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false>; Src = Eigen::Block<const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false>; Func = sub_assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false>; Src = Eigen::Block<const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false>; Func = sub_assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:164:18:   required from ‘Derived& Eigen::MatrixBase<Derived>::operator-=(const Eigen::MatrixBase<OtherDerived>&) [with OtherDerived = Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false>; Derived = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false>]’
  164 |   call_assignment(derived(), other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:457:31:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:78:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                                                              ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> > >’
  722 | struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, true>; SrcXprType = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> >; Functor = sub_assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, true>; SrcXprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> >; Functor = Eigen::internal::sub_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, true> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:780:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, true>; SrcXprType = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> >; Functor = sub_assign_op<double, double>]’
  780 |   DstEvaluatorType dstEvaluator(dst);
      |                    ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, true>; SrcXprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> >; Functor = Eigen::internal::sub_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, true>; Src = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> >; Func = sub_assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, true>; Src = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> >; Func = sub_assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:164:18:   required from ‘Derived& Eigen::MatrixBase<Derived>::operator-=(const Eigen::MatrixBase<OtherDerived>&) [with OtherDerived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> >; Derived = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, true>]’
  164 |   call_assignment(derived(), other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:462:32:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘Eigen::Index Eigen::internal::first_default_aligned(const Eigen::DenseBase<Derived>&) [with Derived = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> >; Eigen::Index = long int]’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:243:63:   required from ‘static Eigen::internal::redux_impl<Func, Evaluator, 3, 0>::Scalar Eigen::internal::redux_impl<Func, Evaluator, 3, 0>::run(const Evaluator&, const Func&, const XprType&) [with XprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> >; Func = Eigen::internal::scalar_sum_op<double, double>; Evaluator = Eigen::internal::redux_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> > >; Scalar = double]’
  243 |     const Index alignedStart = internal::first_default_aligned(xpr);
      |                                ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:418:56:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::redux(const Func&) const [with BinaryOp = Eigen::internal::scalar_sum_op<double, double>; Derived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> >; typename Eigen::internal::traits<T>::Scalar = double]’
  418 |   return internal::redux_impl<Func, ThisEvaluator>::run(thisEval, func, derived());
      |          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::sum() const [with Derived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> >; typename Eigen::internal::traits<T>::Scalar = double]’
  463 |   return derived().redux(Eigen::internal::scalar_sum_op<Scalar,Scalar>());
      |          ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:618:75:   required from ‘const Eigen::internal::product_evaluator<Eigen::Product<Lhs, Rhs, 1>, ProductTag, Eigen::DenseShape, Eigen::DenseShape>::CoeffReturnType Eigen::internal::product_evaluator<Eigen::Product<Lhs, Rhs, 1>, ProductTag, Eigen::DenseShape, Eigen::DenseShape>::coeff(Eigen::Index) const [with Lhs = Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >; Rhs = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>; int ProductTag = 3; typename Eigen::internal::traits<typename Eigen::Product<Lhs, Rhs, 1>::Lhs>::Scalar = double; typename Eigen::Product<Lhs, Rhs, 1>::Lhs = Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >; typename Eigen::internal::traits<typename Eigen::Product<Lhs, Rhs, 1>::Rhs>::Scalar = double; typename Eigen::Product<Lhs, Rhs, 1>::Rhs = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>; CoeffReturnType = double; Eigen::Index = long int]’
  618 |     return (m_lhs.row(row).transpose().cwiseProduct( m_rhs.col(col) )).sum();
      |            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:660:61:   required from ‘void Eigen::internal::generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version>::assignCoeff(Eigen::Index) [with DstEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> > >; SrcEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Product<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 1> >; Functor = Eigen::internal::assign_op<double, double>; int Version = 0; Eigen::Index = long int]’
  660 |     m_functor.assignCoeff(m_dst.coeffRef(index), m_src.coeff(index));
      |                                                  ~~~~~~~~~~~^~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:518:25:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:654:74: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  654 |   return internal::first_aligned<int(unpacket_traits<DefaultPacketType>::alignment),Derived>(m);
      |                                                                          ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:780:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, false>; SrcXprType = Eigen::Block<const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false>; Functor = sub_assign_op<double, double>]’
  780 |   DstEvaluatorType dstEvaluator(dst);
      |                    ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, false>; SrcXprType = Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false>; Functor = Eigen::internal::sub_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, false>; Src = Eigen::Block<const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false>; Func = sub_assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, false>; Src = Eigen::Block<const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false>; Func = sub_assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:164:18:   required from ‘Derived& Eigen::MatrixBase<Derived>::operator-=(const Eigen::MatrixBase<OtherDerived>&) [with OtherDerived = Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false>; Derived = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, false>]’
  164 |   call_assignment(derived(), other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:457:31:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:78:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                                                              ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> > >’
  722 | struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, true>; SrcXprType = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> >; Functor = sub_assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, true>; SrcXprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> >; Functor = Eigen::internal::sub_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   [ skipping 18 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, true> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:780:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, true>; SrcXprType = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> >; Functor = sub_assign_op<double, double>]’
  780 |   DstEvaluatorType dstEvaluator(dst);
      |                    ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, true>; SrcXprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> >; Functor = Eigen::internal::sub_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, true>; Src = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> >; Func = sub_assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, true>; Src = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> >; Func = sub_assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:164:18:   required from ‘Derived& Eigen::MatrixBase<Derived>::operator-=(const Eigen::MatrixBase<OtherDerived>&) [with OtherDerived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> >; Derived = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, true>]’
  164 |   call_assignment(derived(), other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:462:32:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true> >’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:78:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                                                              ^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true> > >’
  722 | struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, true>; SrcXprType = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true> >; Functor = sub_assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, true>; SrcXprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true> >; Functor = Eigen::internal::sub_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   [ skipping 18 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:94:63:   required from here
   94 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
In file included from /home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/Core:341:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h: In function ‘static void Eigen::internal::trmv_selector<Mode, 1>::run(const Lhs&, const Rhs&, Dest&, const typename Dest::Scalar&) [with Lhs = Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false> >; Rhs = Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >; Dest = Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >; int Mode = 6]’:
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:332:12: warning: ‘result’ may be used uninitialized [-Wmaybe-uninitialized]
  327 |     internal::triangular_matrix_vector_product
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  328 |       <Index,Mode,
      |       ~~~~~~~~~~~~
  329 |        LhsScalar, LhsBlasTraits::NeedToConjugate,
      |        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  330 |        RhsScalar, RhsBlasTraits::NeedToConjugate,
      |        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  331 |        RowMajor>
      |        ~~~~~~~~~
  332 |       ::run(actualLhs.rows(),actualLhs.cols(),
      |       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  333 |             actualLhs.data(),actualLhs.outerStride(),
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  334 |             actualRhsPtr,1,
      |             ~~~~~~~~~~~~~~~
  335 |             dest.data(),dest.innerStride(),
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  336 |             actualAlpha);
      |             ~~~~~~~~~~~~
/home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:105:24: note: by argument 5 of type ‘const double*’ to ‘static void Eigen::internal::triangular_matrix_vector_product<Index, Mode, LhsScalar, ConjLhs, RhsScalar, ConjRhs, 1, Version>::run(Index, Index, const LhsScalar*, Index, const RhsScalar*, Index, ResScalar*, Index, const ResScalar&) [with Index = long int; int Mode = 6; LhsScalar = double; bool ConjLhs = false; RhsScalar = double; bool ConjRhs = false; int Version = 0]’ declared here
  105 | EIGEN_DONT_INLINE void triangular_matrix_vector_product<Index,Mode,LhsScalar,ConjLhs,RhsScalar,ConjRhs,RowMajor,Version>
      |                        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
g++-14 -std=gnu++17 -shared -L/home/hornik/tmp/R.check/r-patched-gcc/Work/build/lib -Wl,-O1 -o imuf.so RcppExports.o imuf.o -L/home/hornik/tmp/R.check/r-patched-gcc/Work/build/lib -lR
make[1]: Leaving directory '/home/hornik/tmp/scratch/RtmpgRjc0e/R.INSTALL2461d72145299b/imuf/src'
make[1]: Entering directory '/home/hornik/tmp/scratch/RtmpgRjc0e/R.INSTALL2461d72145299b/imuf/src'
make[1]: Leaving directory '/home/hornik/tmp/scratch/RtmpgRjc0e/R.INSTALL2461d72145299b/imuf/src'
installing to /home/hornik/tmp/R.check/r-patched-gcc/Work/build/Packages/00LOCK-imuf/00new/imuf/libs
** R
** data
*** moving datasets to lazyload DB
** inst
** byte-compile and prepare package for lazy loading
** help
*** installing help indices
  converting help for package ‘imuf’
    finding HTML links ... done
    compUpdate                              html  
    imuf-package                            html  
    rotV                                    html  
    walking_shin_1                          html  
*** copying figures
** building package indices
** installing vignettes
** testing if installed package can be loaded from temporary location
** checking absolute paths in shared objects and dynamic libraries
** testing if installed package can be loaded from final location
** testing if installed package keeps a record of temporary installation path
* DONE (imuf)