* installing *source* package 'imuf' ...
** using staged installation
** libs
using C++ compiler: 'g++.exe (GCC) 13.3.0'
g++ -std=gnu++17  -I"D:/RCompile/recent/R/include" -DNDEBUG  -I'D:/RCompile/CRANpkg/lib/4.5/Rcpp/include' -I'D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include'   -I"d:/rtools44/x86_64-w64-mingw32.static.posix/include"      -pedantic -O2 -Wall  -mfpmath=sse -msse2 -mstackrealign  -DR_NO_REMAP -c RcppExports.cpp -o RcppExports.o
In file included from D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/Core:205,
                 from D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/Dense:1,
                 from D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/RcppEigenForward.h:28,
                 from D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/RcppEigen.h:25,
                 from RcppExports.cpp:4:
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                        ^
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                        ^
D:/RCompile/CRANpkg/lib/4.5/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 }; };
      |                                       ^
D:/RCompile/CRANpkg/lib/4.5/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 }; };
      |                                        ^
D:/RCompile/CRANpkg/lib/4.5/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 }; };
      |                                        ^
D:/RCompile/CRANpkg/lib/4.5/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> {
      |                                           ^
D:/RCompile/CRANpkg/lib/4.5/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> {
      |                                           ^
D:/RCompile/CRANpkg/lib/4.5/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) {
      |                                  ^
D:/RCompile/CRANpkg/lib/4.5/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 D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/Core:174:
D:/RCompile/CRANpkg/lib/4.5/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> {          \
      |                                                            ^
D:/RCompile/CRANpkg/lib/4.5/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)
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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> {          \
      |                                                            ^
D:/RCompile/CRANpkg/lib/4.5/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)
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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> {          \
      |                                                            ^
D:/RCompile/CRANpkg/lib/4.5/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)
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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> {          \
      |                                                            ^
D:/RCompile/CRANpkg/lib/4.5/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 D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/Core:165:
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of 'struct Eigen::internal::find_best_packet<float, 4>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:22:57:   required from 'struct Eigen::internal::traits<Eigen::Matrix<float, 4, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:266:49:   required from 'struct Eigen::internal::traits<Eigen::Quaternion<float> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/arch/Geometry_SIMD.h:24:46:   required from here
D:/RCompile/CRANpkg/lib/4.5/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>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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 D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/Core:271:
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Matrix<float, 4, 1>, 0>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<float, 4, 1>, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<float, 4, 1>, 3>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Matrix<float, 4, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Matrix<float, 4, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from 'class Eigen::PlainObjectBase<Eigen::Matrix<float, 4, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from 'class Eigen::Matrix<float, 4, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:46:50:   required from 'class Eigen::QuaternionBase<Eigen::Quaternion<float> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:273:7:   required from 'class Eigen::Quaternion<float>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/arch/Geometry_SIMD.h:27:3:   required from here
D:/RCompile/CRANpkg/lib/4.5/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;
      |                              ^~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of 'struct Eigen::internal::find_best_packet<double, 4>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:22:57:   required from 'struct Eigen::internal::traits<Eigen::Matrix<double, 4, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:266:49:   required from 'struct Eigen::internal::traits<Eigen::Quaternion<double> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/arch/Geometry_SIMD.h:98:47:   required from here
D:/RCompile/CRANpkg/lib/4.5/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>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                                        ^~~~
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 1>, 0>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 1>, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 1>, 3>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Matrix<double, 4, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Matrix<double, 4, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from 'class Eigen::PlainObjectBase<Eigen::Matrix<double, 4, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from 'class Eigen::Matrix<double, 4, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:46:50:   required from 'class Eigen::QuaternionBase<Eigen::Quaternion<double> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:273:7:   required from 'class Eigen::Quaternion<double>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/arch/Geometry_SIMD.h:102:3:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/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 D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/SparseCore:37,
                 from D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/Sparse:26,
                 from D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/RcppEigenForward.h:29:
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SparseCore/SparseMatrixBase.h: In instantiation of 'class Eigen::SparseMatrixBase<Eigen::SparseMatrix<double, 0, int> >':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SparseCore/SparseCompressedBase.h:36:7:   required from 'class Eigen::SparseCompressedBase<Eigen::SparseMatrix<double, 0, int> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SparseCore/SparseMatrix.h:96:7:   required from 'class Eigen::SparseMatrix<double, 0, int>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/unsupported/Eigen/src/IterativeSolvers/ConstrainedConjGrad.h:61:25:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SparseCore/SparseMatrixBase.h:47:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
   47 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
g++ -std=gnu++17  -I"D:/RCompile/recent/R/include" -DNDEBUG  -I'D:/RCompile/CRANpkg/lib/4.5/Rcpp/include' -I'D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include'   -I"d:/rtools44/x86_64-w64-mingw32.static.posix/include"      -pedantic -O2 -Wall  -mfpmath=sse -msse2 -mstackrealign  -DR_NO_REMAP -c imuf.cpp -o imuf.o
In file included from D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/Core:205,
                 from D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/Dense:1,
                 from D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/RcppEigenForward.h:28,
                 from D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/RcppEigen.h:25,
                 from imuf.cpp:2:
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                        ^
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                        ^
D:/RCompile/CRANpkg/lib/4.5/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 }; };
      |                                       ^
D:/RCompile/CRANpkg/lib/4.5/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 }; };
      |                                        ^
D:/RCompile/CRANpkg/lib/4.5/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 }; };
      |                                        ^
D:/RCompile/CRANpkg/lib/4.5/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> {
      |                                           ^
D:/RCompile/CRANpkg/lib/4.5/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> {
      |                                           ^
D:/RCompile/CRANpkg/lib/4.5/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) {
      |                                  ^
D:/RCompile/CRANpkg/lib/4.5/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 D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/Core:174:
D:/RCompile/CRANpkg/lib/4.5/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> {          \
      |                                                            ^
D:/RCompile/CRANpkg/lib/4.5/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)
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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> {          \
      |                                                            ^
D:/RCompile/CRANpkg/lib/4.5/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)
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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> {          \
      |                                                            ^
D:/RCompile/CRANpkg/lib/4.5/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)
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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> {          \
      |                                                            ^
D:/RCompile/CRANpkg/lib/4.5/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 D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/Core:165:
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of 'struct Eigen::internal::find_best_packet<float, 4>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:22:57:   required from 'struct Eigen::internal::traits<Eigen::Matrix<float, 4, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:266:49:   required from 'struct Eigen::internal::traits<Eigen::Quaternion<float> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/arch/Geometry_SIMD.h:24:46:   required from here
D:/RCompile/CRANpkg/lib/4.5/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>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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 D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/Core:271:
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Matrix<float, 4, 1>, 0>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<float, 4, 1>, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<float, 4, 1>, 3>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Matrix<float, 4, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Matrix<float, 4, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from 'class Eigen::PlainObjectBase<Eigen::Matrix<float, 4, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from 'class Eigen::Matrix<float, 4, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:46:50:   required from 'class Eigen::QuaternionBase<Eigen::Quaternion<float> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:273:7:   required from 'class Eigen::Quaternion<float>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/arch/Geometry_SIMD.h:27:3:   required from here
D:/RCompile/CRANpkg/lib/4.5/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;
      |                              ^~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of 'struct Eigen::internal::find_best_packet<double, 4>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:22:57:   required from 'struct Eigen::internal::traits<Eigen::Matrix<double, 4, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:266:49:   required from 'struct Eigen::internal::traits<Eigen::Quaternion<double> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/arch/Geometry_SIMD.h:98:47:   required from here
D:/RCompile/CRANpkg/lib/4.5/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>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                                        ^~~~
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 1>, 0>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 1>, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 1>, 3>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Matrix<double, 4, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Matrix<double, 4, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from 'class Eigen::PlainObjectBase<Eigen::Matrix<double, 4, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from 'class Eigen::Matrix<double, 4, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:46:50:   required from 'class Eigen::QuaternionBase<Eigen::Quaternion<double> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:273:7:   required from 'class Eigen::Quaternion<double>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/arch/Geometry_SIMD.h:102:3:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/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 D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/SparseCore:37,
                 from D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/Sparse:26,
                 from D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/RcppEigenForward.h:29:
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SparseCore/SparseMatrixBase.h: In instantiation of 'class Eigen::SparseMatrixBase<Eigen::SparseMatrix<double, 0, int> >':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SparseCore/SparseCompressedBase.h:36:7:   required from 'class Eigen::SparseCompressedBase<Eigen::SparseMatrix<double, 0, int> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SparseCore/SparseMatrix.h:96:7:   required from 'class Eigen::SparseMatrix<double, 0, int>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/unsupported/Eigen/src/IterativeSolvers/ConstrainedConjGrad.h:61:25:   required from here
D:/RCompile/CRANpkg/lib/4.5/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;
      |                              ^~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of 'struct Eigen::internal::find_best_packet<double, -1>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:22:57:   required from 'struct Eigen::internal::traits<Eigen::Matrix<double, -1, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from 'class Eigen::PlainObjectBase<Eigen::Matrix<double, -1, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from 'class Eigen::Matrix<double, -1, 1>'
imuf.cpp:9:41:   required from here
D:/RCompile/CRANpkg/lib/4.5/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>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                                        ^~~~
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, 1>, 0>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, 1>, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, 1>, 3>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Matrix<double, -1, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Matrix<double, -1, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from 'class Eigen::PlainObjectBase<Eigen::Matrix<double, -1, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from 'class Eigen::Matrix<double, -1, 1>'
imuf.cpp:9:41:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
imuf.cpp:34:40:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
imuf.cpp:34:40:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of 'struct Eigen::internal::find_best_packet<double, 3>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:22:57:   required from 'struct Eigen::internal::traits<Eigen::Matrix<double, 3, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from 'class Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from 'class Eigen::Matrix<double, 3, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/AngleAxis.h:66:11:   required from 'class Eigen::AngleAxis<double>'
imuf.cpp:34:41:   required from here
D:/RCompile/CRANpkg/lib/4.5/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>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                                        ^~~~
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 1>, 0>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 1>, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 1>, 3>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Matrix<double, 3, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Matrix<double, 3, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from 'class Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from 'class Eigen::Matrix<double, 3, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/AngleAxis.h:66:11:   required from 'class Eigen::AngleAxis<double>'
imuf.cpp:34:41:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of 'struct Eigen::internal::find_best_packet<double, 9>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:22:57:   required from 'struct Eigen::internal::traits<Eigen::Matrix<double, 3, 3> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DiagonalMatrix.h:129:8:   required from 'struct Eigen::internal::traits<Eigen::DiagonalMatrix<double, 3> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/EigenBase.h:42:59:   required from 'struct Eigen::EigenBase<Eigen::DiagonalMatrix<double, 3> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DiagonalMatrix.h:18:7:   required from 'class Eigen::DiagonalBase<Eigen::DiagonalMatrix<double, 3> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DiagonalMatrix.h:140:7:   required from 'class Eigen::DiagonalMatrix<double, 3>'
imuf.cpp:85:25:   required from here
D:/RCompile/CRANpkg/lib/4.5/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>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                                        ^~~~
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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]'
imuf.cpp:97:38:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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]'
imuf.cpp:97:38:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Block.h:103:81:   required from 'class Eigen::Block<const Eigen::Matrix<double, 4, 1>, 3, 1, false>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/VectorBlock.h:56:47:   required from 'class Eigen::VectorBlock<const Eigen::Matrix<double, 4, 1>, 3>'
D:/RCompile/CRANpkg/lib/4.5/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>]'
imuf.cpp:123:43:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>]'
imuf.cpp:123:43:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>]'
imuf.cpp:123:43:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>]'
imuf.cpp:123:43:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>]'
imuf.cpp:123:43:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of 'struct Eigen::internal::find_best_packet<double, 6>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:22:57:   required from 'struct Eigen::internal::traits<Eigen::Matrix<double, 2, 3, 0, 2, 3> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from 'class Eigen::PlainObjectBase<Eigen::Matrix<double, 2, 3, 0, 2, 3> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from 'class Eigen::Matrix<double, 2, 3, 0, 2, 3>'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                                        ^~~~
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 0>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 3>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Matrix<double, 2, 3, 0, 2, 3> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Matrix<double, 2, 3, 0, 2, 3> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from 'class Eigen::PlainObjectBase<Eigen::Matrix<double, 2, 3, 0, 2, 3> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from 'class Eigen::Matrix<double, 2, 3, 0, 2, 3>'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Transpose<Eigen::Matrix<double, 3, 1> >, 0>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Transpose<Eigen::Matrix<double, 3, 1> >, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Transpose<Eigen::Matrix<double, 3, 1> >, 3>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Transpose<Eigen::Matrix<double, 3, 1> > >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Transpose<Eigen::Matrix<double, 3, 1> > >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from 'class Eigen::TransposeImpl<Eigen::Matrix<double, 3, 1>, Eigen::Dense>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from 'class Eigen::Transpose<Eigen::Matrix<double, 3, 1> >'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 2>, 0>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 2>, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 2>, 3>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Matrix<double, 2, 2> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Matrix<double, 2, 2> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from 'class Eigen::PlainObjectBase<Eigen::Matrix<double, 2, 2> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from 'class Eigen::Matrix<double, 2, 2>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:488:60:   required from 'class Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 3>, 0>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 3>, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 3>, 3>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Matrix<double, 3, 3> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Matrix<double, 3, 3> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from 'class Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 3> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from 'class Eigen::Matrix<double, 3, 3>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:488:60:   required from 'class Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of 'struct Eigen::internal::find_best_packet<double, 2>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:22:57:   required from 'struct Eigen::internal::traits<Eigen::Matrix<double, 2, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from 'class Eigen::PlainObjectBase<Eigen::Matrix<double, 2, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from 'class Eigen::Matrix<double, 2, 1>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:488:60:   required from 'class Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                                        ^~~~
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 1>, 0>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 1>, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 1>, 3>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Matrix<double, 2, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Matrix<double, 2, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from 'class Eigen::PlainObjectBase<Eigen::Matrix<double, 2, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from 'class Eigen::Matrix<double, 2, 1>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:488:60:   required from 'class Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 0>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Matrix<double, 3, 2, 0, 3, 2> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Matrix<double, 3, 2, 0, 3, 2> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/QR/ColPivHouseholderQR.h:62:42:   required from 'class Eigen::ColPivHouseholderQR<Eigen::Matrix<double, 3, 2, 0, 3, 2> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:609:110:   required from 'class Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, 2>, 0>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, 2>, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, 2>, 3>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Matrix<double, 1, 2> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Matrix<double, 1, 2> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/QR/ColPivHouseholderQR.h:440:19:   required from 'class Eigen::ColPivHouseholderQR<Eigen::Matrix<double, 3, 2, 0, 3, 2> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:609:110:   required from 'class Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, 3>, 0>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, 3>, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, 3>, 3>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Matrix<double, 1, 3> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Matrix<double, 1, 3> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from 'class Eigen::PlainObjectBase<Eigen::Matrix<double, 1, 3> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from 'class Eigen::Matrix<double, 1, 3>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:609:110:   required from 'class Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Block.h:103:81:   required from 'class Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true>'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false>, 0>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   required from 'class Eigen::BlockImpl<Eigen::Matrix<double, 4, 1>, 3, 1, false, Eigen::Dense>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Block.h:103:81:   required from 'class Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/VectorBlock.h:56:47:   required from 'class Eigen::VectorBlock<Eigen::Matrix<double, 4, 1>, 3>'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
In file included from D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/Core:277:
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
imuf.cpp:123:43:   required from here
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                      ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
imuf.cpp:79:42:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Dot.h:150:15:   required from 'void Eigen::MatrixBase<Derived>::normalize() [with Derived = Eigen::Matrix<double, 4, 1>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:129:65:   required from 'void Eigen::QuaternionBase<Derived>::normalize() [with Derived = Eigen::Quaternion<double>]'
imuf.cpp:87:16:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true>, 0>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Block.h:103:81:   required from 'class Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true>'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, 1, false>, 0>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, 1, false> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, 1, false> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/VectorBlock.h:56:47:   required from 'class Eigen::VectorBlock<Eigen::Matrix<double, 2, 1>, -1>'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, 0>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Block.h:103:81:   required from 'class Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
imuf.cpp:97:38:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from 'class Eigen::Transpose<const Eigen::Matrix<double, 2, 3, 0, 2, 3> >'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/TriangularMatrix.h:175:44:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 2>, 1, 2, false>, 0>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, 2, 2>, 1, 2, false> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, 2, 2>, 1, 2, false> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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 long int]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Diagonal<Eigen::Matrix<double, 3, 3>, 0>, 0>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Diagonal<Eigen::Matrix<double, 3, 3>, 0>, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Diagonal<Eigen::Matrix<double, 3, 3>, 0>, 3>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Diagonal<Eigen::Matrix<double, 3, 3>, 0> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Diagonal<Eigen::Matrix<double, 3, 3>, 0> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Diagonal.h:63:53:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 0>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of 'struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 2, 2>, 1, 2, false> >':
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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 long int]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                      ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of 'struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true> >':
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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 long int]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of 'struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true> >':
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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 long int]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 1, 2>, 1, -1, false>, 0>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, 1, 2>, 1, -1, false> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, 1, 2>, 1, -1, false> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, 3, 3>, 0>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, 3, 3>, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, 3, 3>, 3>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Matrix<double, -1, -1, 0, 3, 3> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Matrix<double, -1, -1, 0, 3, 3> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from 'class Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 0, 3, 3> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 3>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Matrix<double, -1, 1, 0, 3, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Matrix<double, -1, 1, 0, 3, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from 'class Eigen::PlainObjectBase<Eigen::Matrix<double, -1, 1, 0, 3, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Householder/Householder.h:167:27:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Householder/Householder.h:169:25:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Householder/Householder.h:170:53:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Householder/Householder.h:170:34:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 3>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Matrix<double, 1, -1, 1, 1, 3> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Matrix<double, 1, -1, 1, 1, 3> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from 'class Eigen::PlainObjectBase<Eigen::Matrix<double, 1, -1, 1, 1, 3> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Householder/Householder.h:129:41:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Householder/Householder.h:131:25:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Householder/Householder.h:132:29:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Householder/Householder.h:132:41:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 3>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Matrix<double, -1, -1, 1, -1, -1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Matrix<double, -1, -1, 1, -1, -1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from 'class Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 1, -1, -1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, 2, 3>, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, 2, 3>, 3>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Matrix<double, -1, -1, 0, 2, 3> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Matrix<double, -1, -1, 0, 2, 3> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from 'class Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 0, 2, 3> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/TriangularMatrix.h:175:44:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Householder/BlockHouseholder.h:99:96:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Householder/BlockHouseholder.h:101:66:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from 'class Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/TriangularMatrix.h:175:44:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Householder/BlockHouseholder.h:102:66:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Householder/BlockHouseholder.h:103:22:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:875:50:   required from 'Derived& Eigen::MatrixBase<Derived>::setIdentity() [with Derived = Eigen::Matrix<double, 2, 2>]'
D:/RCompile/CRANpkg/lib/4.5/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 long int]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:875:50:   required from 'Derived& Eigen::MatrixBase<Derived>::setIdentity() [with Derived = Eigen::Matrix<double, 3, 3>]'
D:/RCompile/CRANpkg/lib/4.5/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 long int]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of 'struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, 1, false> >':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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 long int; Derived = Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, 1, false>; typename Eigen::internal::traits<T>::Scalar = double]'
D:/RCompile/CRANpkg/lib/4.5/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 long int; Derived = Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, 1, false>; typename Eigen::internal::traits<T>::Scalar = double]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                      ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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 long int]':
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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);
      |                                                                          ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, 3, 2>, 0>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, 3, 2>, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, 3, 2>, 3>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Matrix<double, -1, -1, 0, 3, 2> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Matrix<double, -1, -1, 0, 3, 2> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from 'class Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 0, 3, 2> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 3>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Matrix<double, 1, -1, 1, 1, 2> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Matrix<double, 1, -1, 1, 1, 2> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from 'class Eigen::PlainObjectBase<Eigen::Matrix<double, 1, -1, 1, 1, 2> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Householder/Householder.h:129:38:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Householder/Householder.h:129:41:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/QR/ColPivHouseholderQR.h:550:35:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/QR/ColPivHouseholderQR.h:550:35:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Householder/Householder.h:132:41:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:700:10:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/TriangularMatrix.h:409:44:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Householder/Householder.h:161:11:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:548:10:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Householder/BlockHouseholder.h:63:90:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Householder/BlockHouseholder.h:92:55:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Householder/BlockHouseholder.h:64:57:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Householder/BlockHouseholder.h:92:55:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, -1>, 0>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, -1>, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, -1>, 3>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Matrix<double, 1, -1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Matrix<double, 1, -1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from 'class Eigen::PlainObjectBase<Eigen::Matrix<double, 1, -1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                      ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of 'struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false> >':
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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> > >]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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> >]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Dot.h:110:23:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Householder/Householder.h:46:18:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/QR/ColPivHouseholderQR.h:550:35:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Dot.h:110:23:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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> >]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                      ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of 'struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 1, 2>, 1, -1, false> >':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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 long int; Derived = Eigen::Block<Eigen::Matrix<double, 1, 2>, 1, -1, false>; typename Eigen::internal::traits<T>::Scalar = double]'
D:/RCompile/CRANpkg/lib/4.5/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 long int; Derived = Eigen::Block<Eigen::Matrix<double, 1, 2>, 1, -1, false>; typename Eigen::internal::traits<T>::Scalar = double]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/QR/ColPivHouseholderQR.h:521:90:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Householder/Householder.h:78:71:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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 long int]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/QR/ColPivHouseholderQR.h:540:52:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                      ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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 long int]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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 long int]'
D:/RCompile/CRANpkg/lib/4.5/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 long int]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:402:50:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:416:50:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:402:50:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:416:50:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, -1, 3>, 0>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, -1, 3>, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, -1, 3>, 3>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Matrix<double, -1, -1, 0, -1, 3> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Matrix<double, -1, -1, 0, -1, 3> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from 'class Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 0, -1, 3> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                      ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:402:50:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:416:50:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of 'struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >':
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Householder/Householder.h:161:11:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                      ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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> >]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Householder/Householder.h:168:9:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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> >]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Householder/Householder.h:130:9:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Householder/Householder.h:123:11:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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> >]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Householder/Householder.h:130:9:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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 long int]':
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/QR/ColPivHouseholderQR.h:567:77:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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);
      |                                                                          ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/TriangularMatrix.h:807:20:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                      ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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 long int]':
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Householder/Householder.h:46:18:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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);
      |                                                                          ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                      ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of 'struct Eigen::internal::find_best_packet<double, 1>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:402:29:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                                        ^~~~
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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> >]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Assign.h:66:28:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                      ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:349:16:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/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 D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/Core:330:
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h: In instantiation of 'class Eigen::internal::gebp_traits<double, double, false, false, 1, 0>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:92:29:   required from 'struct Eigen::internal::product_triangular_matrix_matrix<double, long long int, 5, true, 0, false, 0, false, 0, 1, 0>'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:178:42:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                 ^~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                                                              ^~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                                 ^~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                                 ^~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                                 ^~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                         ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                         ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                         ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                 ^~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:457:74:   [ skipping 9 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 13 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   [ skipping 10 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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> > >]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Assign.h:66:28:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                      ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:194:32:   [ skipping 10 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > > > >'
D:/RCompile/CRANpkg/lib/4.5/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> > > > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:783:113:   [ skipping 9 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:349:16:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of 'struct Eigen::internal::find_best_packet<double, 64>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:22:57:   required from 'struct Eigen::internal::traits<Eigen::Matrix<double, 8, 8, 0, 8, 8> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from 'class Eigen::PlainObjectBase<Eigen::Matrix<double, 8, 8, 0, 8, 8> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from 'class Eigen::Matrix<double, 8, 8, 0, 8, 8>'
D:/RCompile/CRANpkg/lib/4.5/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 long int; int Mode = 5; int LhsStorageOrder = 0; bool ConjugateLhs = false; int RhsStorageOrder = 0; bool ConjugateRhs = false; int ResInnerStride = 1; int Version = 0]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                                        ^~~~
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 0>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 3>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Matrix<double, 8, 8, 0, 8, 8> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Matrix<double, 8, 8, 0, 8, 8> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from 'class Eigen::PlainObjectBase<Eigen::Matrix<double, 8, 8, 0, 8, 8> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Diagonal.h:63:53:   required from 'class Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 0>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:153:32:   [ skipping 10 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of 'struct Eigen::internal::find_best_packet<double, 8>':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Diagonal.h:63:53:   required from 'class Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 0>'
D:/RCompile/CRANpkg/lib/4.5/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 long int; int Mode = 5; int LhsStorageOrder = 0; bool ConjugateLhs = false; int RhsStorageOrder = 0; bool ConjugateRhs = false; int ResInnerStride = 1; int Version = 0]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                                        ^~~~
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h: In instantiation of 'class Eigen::internal::gebp_traits<double, double, false, false, 1, 1>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:1080:42:   required from 'struct Eigen::internal::gebp_kernel<double, double, long long int, Eigen::internal::blas_data_mapper<double, long long int, 0, 0, 1>, 4, 4, false, false>'
D:/RCompile/CRANpkg/lib/4.5/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 long int; int Mode = 5; int LhsStorageOrder = 0; bool ConjugateLhs = false; int RhsStorageOrder = 0; bool ConjugateRhs = false; int ResInnerStride = 1; int Version = 0]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:357:18:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                 ^~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                                                              ^~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                                 ^~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                                 ^~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                                 ^~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                         ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                         ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                         ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                 ^~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h: In instantiation of 'class Eigen::internal::gebp_traits<double, double, false, false, 1, 2>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:1085:45:   required from 'struct Eigen::internal::gebp_kernel<double, double, long long int, Eigen::internal::blas_data_mapper<double, long long int, 0, 0, 1>, 4, 4, false, false>'
D:/RCompile/CRANpkg/lib/4.5/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 long int; int Mode = 5; int LhsStorageOrder = 0; bool ConjugateLhs = false; int RhsStorageOrder = 0; bool ConjugateRhs = false; int ResInnerStride = 1; int Version = 0]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:357:18:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
  384 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                 ^~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                                                              ^~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                                 ^~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                                 ^~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                                 ^~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                         ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                         ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                         ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                 ^~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:548:10:   required from 'Derived& Eigen::DenseBase<Derived>::setZero() [with Derived = Eigen::Matrix<double, 2, 2>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PermutationMatrix.h:103:20:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/util/BlasUtil.h:506:13:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 16 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/VectorBlock.h:56:47:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:194:18:   [ skipping 10 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   [ skipping 10 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:457:74:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 13 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   [ skipping 10 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 1, 2, 3>, 0>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 1, 2, 3>, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 1, 2, 3>, 3>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Matrix<double, -1, -1, 1, 2, 3> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Matrix<double, -1, -1, 1, 2, 3> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from 'class Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 1, 2, 3> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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 long int; DataMapper = Eigen::internal::const_blas_data_mapper<double, long long int, 0>; int nr = 4; bool Conjugate = false; bool PanelMode = false]':
D:/RCompile/CRANpkg/lib/4.5/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 long int; int Mode = 5; int LhsStorageOrder = 0; bool ConjugateLhs = false; int RhsStorageOrder = 0; bool ConjugateRhs = false; int ResInnerStride = 1; int Version = 0]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:178:42:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                              ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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 long int; DataMapper = Eigen::internal::const_blas_data_mapper<double, long long int, 0>; int Pack1 = 4; int Pack2 = 2; Packet = __vector(2) double; bool Conjugate = false; bool PanelMode = false]':
D:/RCompile/CRANpkg/lib/4.5/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 long int; int Mode = 5; int LhsStorageOrder = 0; bool ConjugateLhs = false; int RhsStorageOrder = 0; bool ConjugateRhs = false; int ResInnerStride = 1; int Version = 0]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:178:42:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                                  ^~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                        ^~~~
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                              ^~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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 long int; DataMapper = Eigen::internal::blas_data_mapper<double, long long int, 0, 0, 1>; int mr = 4; int nr = 4; bool ConjugateLhs = false; bool ConjugateRhs = false; ResScalar = double]':
D:/RCompile/CRANpkg/lib/4.5/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 long int; int Mode = 5; int LhsStorageOrder = 0; bool ConjugateLhs = false; int RhsStorageOrder = 0; bool ConjugateRhs = false; int ResInnerStride = 1; int Version = 0]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:178:42:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                                                       ^~~~
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                                                                                          ^~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                                                                                       ^~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                                                                                       ^~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                                                                                       ^~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                                                                                       ^~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:618:37:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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 long int]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:660:61:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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<> > >'
D:/RCompile/CRANpkg/lib/4.5/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<> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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<> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:115:18:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:119:18:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Map<Eigen::Matrix<double, -1, 1>, 0, Eigen::InnerStride<> >, 0>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Map<Eigen::Matrix<double, -1, 1>, 0, Eigen::InnerStride<> > >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Map<Eigen::Matrix<double, -1, 1>, 0, Eigen::InnerStride<> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:137:106:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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 long int; int Mode = 6; LhsScalar = double; bool ConjLhs = false; RhsScalar = double; bool ConjRhs = false; int Version = 0; ResScalar = double]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:332:12:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
In file included from D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/Core:333:
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h: In instantiation of 'class Eigen::internal::gemv_traits<double, double, 0>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:306:38:   required from 'struct Eigen::internal::general_matrix_vector_product<long long int, double, Eigen::internal::const_blas_data_mapper<double, long long int, 1>, 1, false, double, Eigen::internal::const_blas_data_mapper<double, long long int, 1>, false, 1>'
D:/RCompile/CRANpkg/lib/4.5/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 long int; int Mode = 6; LhsScalar = double; bool ConjLhs = false; RhsScalar = double; bool ConjRhs = false; int Version = 0; ResScalar = double]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:361:27:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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 &&
      |                                                     ^~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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 &&
      |                                      ^~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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),
      |                                          ^~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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),
      |                                                                                  ^~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                                     ^~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                                     ^~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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
      |                                                                     ^~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                         ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                         ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                         ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h: In instantiation of 'class Eigen::internal::gemv_traits<double, double, 1>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:310:42:   required from 'struct Eigen::internal::general_matrix_vector_product<long long int, double, Eigen::internal::const_blas_data_mapper<double, long long int, 1>, 1, false, double, Eigen::internal::const_blas_data_mapper<double, long long int, 1>, false, 1>'
D:/RCompile/CRANpkg/lib/4.5/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 long int; int Mode = 6; LhsScalar = double; bool ConjLhs = false; RhsScalar = double; bool ConjRhs = false; int Version = 0; ResScalar = double]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:361:27:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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 &&
      |                                                     ^~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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 &&
      |                                      ^~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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),
      |                                          ^~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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),
      |                                                                                  ^~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                                     ^~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                                     ^~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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
      |                                                                     ^~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                         ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                         ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                         ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h: In instantiation of 'class Eigen::internal::gemv_traits<double, double, 2>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:314:45:   required from 'struct Eigen::internal::general_matrix_vector_product<long long int, double, Eigen::internal::const_blas_data_mapper<double, long long int, 1>, 1, false, double, Eigen::internal::const_blas_data_mapper<double, long long int, 1>, false, 1>'
D:/RCompile/CRANpkg/lib/4.5/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 long int; int Mode = 6; LhsScalar = double; bool ConjLhs = false; RhsScalar = double; bool ConjRhs = false; int Version = 0; ResScalar = double]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:361:27:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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);
      |                           ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro 'PACKET_DECL_COND_PREFIX'
   42 |   prefix ## name ## Packet
      |   ^~~~~~
D:/RCompile/CRANpkg/lib/4.5/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 &&
      |                                                     ^~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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 &&
      |                                      ^~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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),
      |                                          ^~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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),
      |                                                                                  ^~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                                     ^~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                                     ^~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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
      |                                                                     ^~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                         ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                         ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                         ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 8, 8, 1, 8, 8>, 0>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 8, 8, 1, 8, 8>, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 8, 8, 1, 8, 8>, 3>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Matrix<double, 8, 8, 1, 8, 8> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Matrix<double, 8, 8, 1, 8, 8> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from 'class Eigen::PlainObjectBase<Eigen::Matrix<double, 8, 8, 1, 8, 8> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 13 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Diagonal.h:63:53:   required from 'class Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 1, 8, 8>, 0>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:153:32:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:151:29:   [ skipping 10 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:153:42:   [ skipping 10 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:618:37:   [ skipping 13 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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 long int]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:660:61:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:618:37:   [ skipping 13 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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 long int]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:660:61:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:606:37:   [ skipping 13 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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 long int]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:654:63:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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 long int]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:654:63:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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 long int; DataMapper = Eigen::internal::const_blas_data_mapper<double, long long int, 1>; int Pack1 = 4; int Pack2 = 2; Packet = __vector(2) double; bool Conjugate = false; bool PanelMode = false]':
D:/RCompile/CRANpkg/lib/4.5/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 long int; int Mode = 6; int LhsStorageOrder = 1; bool ConjugateLhs = false; int RhsStorageOrder = 0; bool ConjugateRhs = false; int ResInnerStride = 1; int Version = 0]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:148:43:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                                                                  ^~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                        ^~~~
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                              ^~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                       ^~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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;
      |                                          ^~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 16 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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 long int]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:654:63:   [ skipping 13 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   [ skipping 16 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                      ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   [ skipping 13 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Redux.h:357:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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> > > >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   [ skipping 13 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   [ skipping 16 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:151:29:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:349:16:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 8, 1, 0, 8, 1>, 0>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 8, 1, 0, 8, 1>, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 8, 1, 0, 8, 1>, 3>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Matrix<double, 8, 1, 0, 8, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Matrix<double, 8, 1, 0, 8, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from 'class Eigen::PlainObjectBase<Eigen::Matrix<double, 8, 1, 0, 8, 1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:457:31:   [ skipping 9 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                      ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:462:32:   [ skipping 9 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   [ skipping 17 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   [ skipping 17 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   [ skipping 17 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 19 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 19 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 17 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   [ skipping 16 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 17 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   [ skipping 16 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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>':
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1>, 0>':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1>, 1>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from 'class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1>, 3>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from 'class Eigen::DenseBase<Eigen::Matrix<double, -1, -1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from 'class Eigen::MatrixBase<Eigen::Matrix<double, -1, -1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from 'class Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1> >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 16 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument 'Eigen::internal::packet_traits<double>::type' {aka '__m128d'} [-Wignored-attributes]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                      ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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 long int]':
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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 long int]'
D:/RCompile/CRANpkg/lib/4.5/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 long int]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:518:25:   [ skipping 10 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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);
      |                                                                          ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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 long int]':
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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 long int; int Mode = 6; LhsScalar = double; bool ConjLhs = false; RhsScalar = double; bool ConjRhs = false; int Version = 0; ResScalar = double]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:194:18:   [ skipping 10 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   [ skipping 29 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                      ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   [ skipping 27 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:341:27:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:457:31:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:457:31:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:462:32:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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 long int]':
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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 long int]'
D:/RCompile/CRANpkg/lib/4.5/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 long int]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:518:25:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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);
      |                                                                          ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:457:31:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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,
      |                                                      ^~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   [ skipping 18 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:462:32:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
D:/RCompile/CRANpkg/lib/4.5/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> >':
D:/RCompile/CRANpkg/lib/4.5/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> >'
D:/RCompile/CRANpkg/lib/4.5/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>'
D:/RCompile/CRANpkg/lib/4.5/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> > >'
D:/RCompile/CRANpkg/lib/4.5/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>]'
D:/RCompile/CRANpkg/lib/4.5/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]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   [ skipping 18 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from 'bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from 'Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]'
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]'
imuf.cpp:94:63:   required from here
D:/RCompile/CRANpkg/lib/4.5/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]
In file included from D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/Core:341:
D:/RCompile/CRANpkg/lib/4.5/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]':
D:/RCompile/CRANpkg/lib/4.5/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);
      |             ~~~~~~~~~~~~
D:/RCompile/CRANpkg/lib/4.5/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 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>
      |                        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/util/ConfigureVectorization.h:346,
                 from D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/Core:22:
In function '__m128d _mm_loadu_pd(const double*)',
    inlined from 'Packet Eigen::internal::ploadu(const typename unpacket_traits<T>::type*) [with Packet = __vector(2) double]' at D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:746:22,
    inlined from 'Packet Eigen::internal::ploadt(const typename unpacket_traits<T>::type*) [with Packet = __vector(2) double; int Alignment = 0]' at D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/GenericPacketMath.h:969:26,
    inlined from 'PacketType Eigen::internal::mapbase_evaluator<Derived, PlainObjectType>::packet(Eigen::Index, Eigen::Index) const [with int LoadMode = 0; PacketType = __vector(2) double; Derived = Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true>; PlainObjectType = Eigen::Matrix<double, 3, 1>]' at D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:937:50,
    inlined from 'void Eigen::internal::generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version>::assignPacket(Eigen::Index, Eigen::Index) [with int StoreMode = 0; int LoadMode = 0; PacketType = __vector(2) double; DstEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Matrix<double, 3, 1> >; SrcEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true> >; Functor = Eigen::internal::assign_op<double, double>; int Version = 0]' at D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:675:116,
    inlined from 'void Eigen::internal::generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version>::assignPacketByOuterInner(Eigen::Index, Eigen::Index) [with int StoreMode = 0; int LoadMode = 0; PacketType = __vector(2) double; DstEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Matrix<double, 3, 1> >; SrcEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true> >; Functor = Eigen::internal::assign_op<double, double>; int Version = 0]' at D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:689:48,
    inlined from 'static void Eigen::internal::copy_using_evaluator_innervec_CompleteUnrolling<Kernel, Index, Stop>::run(Kernel&) [with Kernel = Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 3, 1> >, Eigen::internal::evaluator<Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true> >, Eigen::internal::assign_op<double, double>, 0>; int Index = 0; int Stop = 2]' at D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:279:85,
    inlined from 'static void Eigen::internal::dense_assignment_loop<Kernel, 3, 2>::run(Kernel&) [with Kernel = Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 3, 1> >, Eigen::internal::evaluator<Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true> >, Eigen::internal::assign_op<double, double>, 0>]' at D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:455:81,
    inlined 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>]' at D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:785:37,
    inlined 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]' at D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31,
    inlined 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>]' at D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49,
    inlined 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>]' at D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:797:41,
    inlined 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>]' at D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:594:19,
    inlined 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]' at D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:423:29,
    inlined from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]' at D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:658:13,
    inlined from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]' at D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27,
    inlined from 'Rcpp::NumericVector compUpdate(Rcpp::NumericVector, Rcpp::NumericVector, double, Rcpp::NumericVector, double)' at imuf.cpp:94:75:
d:\rtools44\x86_64-w64-mingw32.static.posix\lib\gcc\x86_64-w64-mingw32.static.posix\13.3.0\include\emmintrin.h:134:24: warning: '*(__m128d_u*)((char*)&svd + offsetof(Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2>,Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2>::<unnamed>.Eigen::SVDBase<Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2> >::m_matrixV.Eigen::Matrix<double, 3, 3, 0, 3, 3>::<unnamed>.Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 3, 0, 3, 3> >::m_storage.Eigen::DenseStorage<double, 9, 3, 3, 0>::m_data.Eigen::internal::plain_array<double, 9, 0, 0>::array[6]))' may be used uninitialized [-Wmaybe-uninitialized]
  134 |   return *(__m128d_u *)__P;
      |                        ^~~
In file included from D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/Geometry:42,
                 from D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/Dense:6:
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h: In function 'Rcpp::NumericVector compUpdate(Rcpp::NumericVector, Rcpp::NumericVector, double, Rcpp::NumericVector, double)':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36: note: 'svd' declared here
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
In member function 'Eigen::internal::mapbase_evaluator<Derived, PlainObjectType>::CoeffReturnType Eigen::internal::mapbase_evaluator<Derived, PlainObjectType>::coeff(Eigen::Index, Eigen::Index) const [with Derived = Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true>; PlainObjectType = Eigen::Matrix<double, 3, 1>]',
    inlined from 'void Eigen::internal::generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version>::assignCoeff(Eigen::Index, Eigen::Index) [with DstEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Matrix<double, 3, 1> >; SrcEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true> >; Functor = Eigen::internal::assign_op<double, double>; int Version = 0]' at D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:654:63,
    inlined from 'void Eigen::internal::generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version>::assignCoeffByOuterInner(Eigen::Index, Eigen::Index) [with DstEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Matrix<double, 3, 1> >; SrcEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true> >; Functor = Eigen::internal::assign_op<double, double>; int Version = 0]' at D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:668:16,
    inlined from 'static void Eigen::internal::copy_using_evaluator_DefaultTraversal_CompleteUnrolling<Kernel, Index, Stop>::run(Kernel&) [with Kernel = Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 3, 1> >, Eigen::internal::evaluator<Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true> >, Eigen::internal::assign_op<double, double>, 0>; int Index = 2; int Stop = 3]' at D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:211:35,
    inlined from 'static void Eigen::internal::dense_assignment_loop<Kernel, 3, 2>::run(Kernel&) [with Kernel = Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Matrix<double, 3, 1> >, Eigen::internal::evaluator<Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true> >, Eigen::internal::assign_op<double, double>, 0>]' at D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:456:92,
    inlined 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>]' at D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:785:37,
    inlined 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]' at D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31,
    inlined 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>]' at D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49,
    inlined 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>]' at D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:797:41,
    inlined 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>]' at D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:594:19,
    inlined 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]' at D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/Matrix.h:423:29,
    inlined from 'Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]' at D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:658:13,
    inlined from 'static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]' at D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27,
    inlined from 'Rcpp::NumericVector compUpdate(Rcpp::NumericVector, Rcpp::NumericVector, double, Rcpp::NumericVector, double)' at imuf.cpp:94:75:
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:911:56: warning: 'svd.Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2>::<unnamed>.Eigen::SVDBase<Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2> >::m_matrixV.Eigen::Matrix<double, 3, 3, 0, 3, 3>::<unnamed>.Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 3, 0, 3, 3> >::m_storage.Eigen::DenseStorage<double, 9, 3, 3, 0>::m_data.Eigen::internal::plain_array<double, 9, 0, 0>::array[8]' may be used uninitialized [-Wmaybe-uninitialized]
  911 |     return m_data[col * colStride() + row * rowStride()];
      |                                                        ^
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h: In function 'Rcpp::NumericVector compUpdate(Rcpp::NumericVector, Rcpp::NumericVector, double, Rcpp::NumericVector, double)':
D:/RCompile/CRANpkg/lib/4.5/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36: note: 'svd' declared here
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
g++ -std=gnu++17 -shared -s -static-libgcc -o imuf.dll tmp.def RcppExports.o imuf.o -Ld:/rtools44/x86_64-w64-mingw32.static.posix/lib/x64 -Ld:/rtools44/x86_64-w64-mingw32.static.posix/lib -LD:/RCompile/recent/R/bin/x64 -lR
installing to d:/RCompile/CRANincoming/R-devel/lib/00LOCK-imuf/00new/imuf/libs/x64
** R
** data
*** moving datasets to lazyload DB
** inst
** byte-compile and prepare package for lazy loading
** help
*** installing help indices
*** copying figures
** building package indices
** installing vignettes
** testing if installed package can be loaded from temporary location
** testing if installed package can be loaded from final location
** testing if installed package keeps a record of temporary installation path
* DONE (imuf)