1. 3rdparty\eigen\eigen3\eigen\src\core\assignevaluator.h(833): error C2338: YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES
Eigen::Matrix3d rotation_matrix;
rotation_matrix = yawAngle*pitchAngle*rollAngle;
cout<< rotation_matrix<<endl;
Eigen::Matrix4d mat4d = Eigen::Matrix4d::Identity();
mat4d = rotation_matrix;尝试直接把3*3矩阵赋给4*4矩阵，最坑的是这玩意儿控制台都不提示哪儿错了，只报eigen3库有错，耗费时间一点一点检查
错误原因：不同维度的矩阵运算。
2. error C2338: YOU_MIXED_VECTORS_OF_DIFFERENT_SIZES
错误原因：两个向量表达式类型不兼容（相同的固定大小或动态大小）
3.THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE
Eigen::AngleAxisd rollAngle(Eigen::AngleAxisd(temp_ea(2), Eigen::Vector4d::UnitX()));
Eigen::AngleAxisd pitchAngle(Eigen::AngleAxisd(temp_ea(1), Eigen::Vector4d::UnitY()));
Eigen::AngleAxisd yawAngle(Eigen::AngleAxisd(temp_ea(0), Eigen::Vector4d::UnitZ()));
Eigen::Matrix3d rotation_matrix;
rotation_matrix = yawAngle*pitchAngle*rollAngle;
cout << rotation_matrix;错误原因：这真是个傻屌错误，如果你用Eigen::Matrix3f来存储矩阵，普通运算没问题；但是你想用Eigen库里的欧拉角之类的转换函数,matrix3d就要用angleAxised，matrix3f用angleAxisef
4. error C2338: THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE
错误原因：Eigen库里的欧拉角转化，必须是double类型即Eigen:Matrix3d，用其他类型总会有莫名其妙的错误,我的就是用了Eigen:Matrix4d
剩余如下：
// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
//
// This Source Code Form is subject to the terms of the Mozilla
// Public License v. 2.0. If a copy of the MPL was not distributed
// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
#ifndef EIGEN_STATIC_ASSERT_H
#define EIGEN_STATIC_ASSERT_H
/* Some notes on Eigen's static assertion mechanism:
*
* - in EIGEN_STATIC_ASSERT(CONDITION,MSG) the parameter CONDITION must be a compile time boolean
* expression, and MSG an enum listed in struct internal::static_assertion<true>
*
* - define EIGEN_NO_STATIC_ASSERT to disable them (and save compilation time)
* in that case, the static assertion is converted to the following runtime assert:
* eigen_assert(CONDITION && "MSG")
*
* - currently EIGEN_STATIC_ASSERT can only be used in function scope
*
*/
#ifndef EIGEN_STATIC_ASSERT
#ifndef EIGEN_NO_STATIC_ASSERT
#if EIGEN_MAX_CPP_VER>=11 && (__has_feature(cxx_static_assert) || (defined(__cplusplus) && __cplusplus >= 201103L) || (EIGEN_COMP_MSVC >= 1600))
// if native static_assert is enabled, let's use it
#define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
#else // not CXX0X
namespace Eigen {
namespace internal {
template<bool condition>
struct static_assertion {};
template<>
struct static_assertion<true>
{
enum {
YOU_TRIED_CALLING_A_VECTOR_METHOD_ON_A_MATRIX=1,
YOU_MIXED_VECTORS_OF_DIFFERENT_SIZES=1,
YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES=1,
THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE=1,
THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE=1,
THIS_METHOD_IS_ONLY_FOR_OBJECTS_OF_A_SPECIFIC_SIZE=1,
OUT_OF_RANGE_ACCESS=1,
YOU_MADE_A_PROGRAMMING_MISTAKE=1,
EIGEN_INTERNAL_ERROR_PLEASE_FILE_A_BUG_REPORT=1,
EIGEN_INTERNAL_COMPILATION_ERROR_OR_YOU_MADE_A_PROGRAMMING_MISTAKE=1,
YOU_CALLED_A_FIXED_SIZE_METHOD_ON_A_DYNAMIC_SIZE_MATRIX_OR_VECTOR=1,
YOU_CALLED_A_DYNAMIC_SIZE_METHOD_ON_A_FIXED_SIZE_MATRIX_OR_VECTOR=1,
UNALIGNED_LOAD_AND_STORE_OPERATIONS_UNIMPLEMENTED_ON_ALTIVEC=1,
THIS_FUNCTION_IS_NOT_FOR_INTEGER_NUMERIC_TYPES=1,
FLOATING_POINT_ARGUMENT_PASSED__INTEGER_WAS_EXPECTED=1,
NUMERIC_TYPE_MUST_BE_REAL=1,
COEFFICIENT_WRITE_ACCESS_TO_SELFADJOINT_NOT_SUPPORTED=1,
WRITING_TO_TRIANGULAR_PART_WITH_UNIT_DIAGONAL_IS_NOT_SUPPORTED=1,
THIS_METHOD_IS_ONLY_FOR_FIXED_SIZE=1,
INVALID_MATRIX_PRODUCT=1,
INVALID_VECTOR_VECTOR_PRODUCT__IF_YOU_WANTED_A_DOT_OR_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTIONS=1,
INVALID_MATRIX_PRODUCT__IF_YOU_WANTED_A_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTION=1,
YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY=1,
THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES=1,
THIS_METHOD_IS_ONLY_FOR_ROW_MAJOR_MATRICES=1,
INVALID_MATRIX_TEMPLATE_PARAMETERS=1,
INVALID_MATRIXBASE_TEMPLATE_PARAMETERS=1,
BOTH_MATRICES_MUST_HAVE_THE_SAME_STORAGE_ORDER=1,
THIS_METHOD_IS_ONLY_FOR_DIAGONAL_MATRIX=1,
THE_MATRIX_OR_EXPRESSION_THAT_YOU_PASSED_DOES_NOT_HAVE_THE_EXPECTED_TYPE=1,
THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_WITH_DIRECT_MEMORY_ACCESS_SUCH_AS_MAP_OR_PLAIN_MATRICES=1,
YOU_ALREADY_SPECIFIED_THIS_STRIDE=1,
INVALID_STORAGE_ORDER_FOR_THIS_VECTOR_EXPRESSION=1,
THE_BRACKET_OPERATOR_IS_ONLY_FOR_VECTORS__USE_THE_PARENTHESIS_OPERATOR_INSTEAD=1,
PACKET_ACCESS_REQUIRES_TO_HAVE_INNER_STRIDE_FIXED_TO_1=1,
THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS=1,
YOU_CANNOT_MIX_ARRAYS_AND_MATRICES=1,
YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION=1,
THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY=1,
YOU_ARE_TRYING_TO_USE_AN_INDEX_BASED_ACCESSOR_ON_AN_EXPRESSION_THAT_DOES_NOT_SUPPORT_THAT=1,
THIS_METHOD_IS_ONLY_FOR_1x1_EXPRESSIONS=1,
THIS_METHOD_IS_ONLY_FOR_INNER_OR_LAZY_PRODUCTS=1,
THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_OF_BOOL=1,
THIS_METHOD_IS_ONLY_FOR_ARRAYS_NOT_MATRICES=1,
YOU_PASSED_A_ROW_VECTOR_BUT_A_COLUMN_VECTOR_WAS_EXPECTED=1,
YOU_PASSED_A_COLUMN_VECTOR_BUT_A_ROW_VECTOR_WAS_EXPECTED=1,
THE_INDEX_TYPE_MUST_BE_A_SIGNED_TYPE=1,
THE_STORAGE_ORDER_OF_BOTH_SIDES_MUST_MATCH=1,
OBJECT_ALLOCATED_ON_STACK_IS_TOO_BIG=1,
IMPLICIT_CONVERSION_TO_SCALAR_IS_FOR_INNER_PRODUCT_ONLY=1,
STORAGE_LAYOUT_DOES_NOT_MATCH=1,
EIGEN_INTERNAL_ERROR_PLEASE_FILE_A_BUG_REPORT__INVALID_COST_VALUE=1,
THIS_COEFFICIENT_ACCESSOR_TAKING_ONE_ACCESS_IS_ONLY_FOR_EXPRESSIONS_ALLOWING_LINEAR_ACCESS=1,
MATRIX_FREE_CONJUGATE_GRADIENT_IS_COMPATIBLE_WITH_UPPER_UNION_LOWER_MODE_ONLY=1,
THIS_TYPE_IS_NOT_SUPPORTED=1,
STORAGE_KIND_MUST_MATCH=1,
STORAGE_INDEX_MUST_MATCH=1,
CHOLMOD_SUPPORTS_DOUBLE_PRECISION_ONLY=1,
SELFADJOINTVIEW_ACCEPTS_UPPER_AND_LOWER_MODE_ONLY=1
};
};
} // end namespace internal
} // end namespace Eigen
// Specialized implementation for MSVC to avoid "conditional
// expression is constant" warnings. This implementation doesn't
// appear to work under GCC, hence the multiple implementations.
#if EIGEN_COMP_MSVC
#define EIGEN_STATIC_ASSERT(CONDITION,MSG) \
{Eigen::internal::static_assertion<bool(CONDITION)>::MSG;}
#else
// In some cases clang interprets bool(CONDITION) as function declaration
#define EIGEN_STATIC_ASSERT(CONDITION,MSG) \
if (Eigen::internal::static_assertion<static_cast<bool>(CONDITION)>::MSG) {}
#endif
#endif // not CXX0X
#else // EIGEN_NO_STATIC_ASSERT
#define EIGEN_STATIC_ASSERT(CONDITION,MSG) eigen_assert((CONDITION) && #MSG);
#endif // EIGEN_NO_STATIC_ASSERT
#endif // EIGEN_STATIC_ASSERT
// static assertion failing if the type \a TYPE is not a vector type
#define EIGEN_STATIC_ASSERT_VECTOR_ONLY(TYPE) \
EIGEN_STATIC_ASSERT(TYPE::IsVectorAtCompileTime, \
YOU_TRIED_CALLING_A_VECTOR_METHOD_ON_A_MATRIX)
// static assertion failing if the type \a TYPE is not fixed-size
#define EIGEN_STATIC_ASSERT_FIXED_SIZE(TYPE) \
EIGEN_STATIC_ASSERT(TYPE::SizeAtCompileTime!=Eigen::Dynamic, \
YOU_CALLED_A_FIXED_SIZE_METHOD_ON_A_DYNAMIC_SIZE_MATRIX_OR_VECTOR)
// static assertion failing if the type \a TYPE is not dynamic-size
#define EIGEN_STATIC_ASSERT_DYNAMIC_SIZE(TYPE) \
EIGEN_STATIC_ASSERT(TYPE::SizeAtCompileTime==Eigen::Dynamic, \
YOU_CALLED_A_DYNAMIC_SIZE_METHOD_ON_A_FIXED_SIZE_MATRIX_OR_VECTOR)
// static assertion failing if the type \a TYPE is not a vector type of the given size
#define EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(TYPE, SIZE) \
EIGEN_STATIC_ASSERT(TYPE::IsVectorAtCompileTime && TYPE::SizeAtCompileTime==SIZE, \
THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE)
// static assertion failing if the type \a TYPE is not a vector type of the given size
#define EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(TYPE, ROWS, COLS) \
EIGEN_STATIC_ASSERT(TYPE::RowsAtCompileTime==ROWS && TYPE::ColsAtCompileTime==COLS, \
THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE)
// static assertion failing if the two vector expression types are not compatible (same fixed-size or dynamic size)
#define EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(TYPE0,TYPE1) \
EIGEN_STATIC_ASSERT( \
(int(TYPE0::SizeAtCompileTime)==Eigen::Dynamic \
|| int(TYPE1::SizeAtCompileTime)==Eigen::Dynamic \
|| int(TYPE0::SizeAtCompileTime)==int(TYPE1::SizeAtCompileTime)),\
YOU_MIXED_VECTORS_OF_DIFFERENT_SIZES)
#define EIGEN_PREDICATE_SAME_MATRIX_SIZE(TYPE0,TYPE1) \
( \
(int(Eigen::internal::size_of_xpr_at_compile_time<TYPE0>::ret)==0 && int(Eigen::internal::size_of_xpr_at_compile_time<TYPE1>::ret)==0) \
|| (\
(int(TYPE0::RowsAtCompileTime)==Eigen::Dynamic \
|| int(TYPE1::RowsAtCompileTime)==Eigen::Dynamic \
|| int(TYPE0::RowsAtCompileTime)==int(TYPE1::RowsAtCompileTime)) \
&& (int(TYPE0::ColsAtCompileTime)==Eigen::Dynamic \
|| int(TYPE1::ColsAtCompileTime)==Eigen::Dynamic \
|| int(TYPE0::ColsAtCompileTime)==int(TYPE1::ColsAtCompileTime))\
) \
)
#define EIGEN_STATIC_ASSERT_NON_INTEGER(TYPE) \
EIGEN_STATIC_ASSERT(!NumTraits<TYPE>::IsInteger, THIS_FUNCTION_IS_NOT_FOR_INTEGER_NUMERIC_TYPES)
// static assertion failing if it is guaranteed at compile-time that the two matrix expression types have different sizes
#define EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(TYPE0,TYPE1) \
EIGEN_STATIC_ASSERT( \
EIGEN_PREDICATE_SAME_MATRIX_SIZE(TYPE0,TYPE1),\
YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES)
#define EIGEN_STATIC_ASSERT_SIZE_1x1(TYPE) \
EIGEN_STATIC_ASSERT((TYPE::RowsAtCompileTime == 1 || TYPE::RowsAtCompileTime == Dynamic) && \
(TYPE::ColsAtCompileTime == 1 || TYPE::ColsAtCompileTime == Dynamic), \
THIS_METHOD_IS_ONLY_FOR_1x1_EXPRESSIONS)
#define EIGEN_STATIC_ASSERT_LVALUE(Derived) \
EIGEN_STATIC_ASSERT(Eigen::internal::is_lvalue<Derived>::value, \
THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY)
#define EIGEN_STATIC_ASSERT_ARRAYXPR(Derived) \
EIGEN_STATIC_ASSERT((Eigen::internal::is_same<typename Eigen::internal::traits<Derived>::XprKind, ArrayXpr>::value), \
THIS_METHOD_IS_ONLY_FOR_ARRAYS_NOT_MATRICES)
#define EIGEN_STATIC_ASSERT_SAME_XPR_KIND(Derived1, Derived2) \
EIGEN_STATIC_ASSERT((Eigen::internal::is_same<typename Eigen::internal::traits<Derived1>::XprKind, \
typename Eigen::internal::traits<Derived2>::XprKind \
>::value), \
YOU_CANNOT_MIX_ARRAYS_AND_MATRICES)
// Check that a cost value is positive, and that is stay within a reasonable range
// TODO this check could be enabled for internal debugging only
#define EIGEN_INTERNAL_CHECK_COST_VALUE(C) \
EIGEN_STATIC_ASSERT((C)>=0 && (C)<=HugeCost*HugeCost, EIGEN_INTERNAL_ERROR_PLEASE_FILE_A_BUG_REPORT__INVALID_COST_VALUE);
#endif // EIGEN_STATIC_ASSERT_H
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