使用Eigen遇到恶心报错

参考博客：https://www.cnblogs.com/wongyi/p/8734346.html

 

1. 数据类型报错

/home/wy/workdir/slambook/ch3/useEigen/build> make -j2
Scanning dependencies of target eigenMatrix
[ 50%] Building CXX object CMakeFiles/eigenMatrix.dir/eigenMatrix.cpp.o
In file included from /usr/include/eigen3/Eigen/Core:348:0,
                 from /home/wy/workdir/slambook/ch3/useEigen/eigenMatrix.cpp:5:
/usr/include/eigen3/Eigen/src/Core/Product.h: In instantiation of ‘struct Eigen::internal::product_result_scalar<Eigen::Matrix<float, 2, 3>, Eigen::Matrix<double, 3, 1>, Eigen::DenseShape, Eigen::DenseShape>’:
/usr/include/eigen3/Eigen/src/Core/Product.h:78:73:   required from ‘struct Eigen::internal::traits<Eigen::Product<Eigen::Matrix<float, 2, 3>, Eigen::Matrix<double, 3, 1>, 0> >’
/usr/include/eigen3/Eigen/src/Core/Product.h:151:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::Matrix<float, 2, 3>, Eigen::Matrix<double, 3, 1>, 0, 3>’
/usr/include/eigen3/Eigen/src/Core/Product.h:183:7:   required from ‘class Eigen::ProductImpl<Eigen::Matrix<float, 2, 3>, Eigen::Matrix<double, 3, 1>, 0, Eigen::Dense>’
/usr/include/eigen3/Eigen/src/Core/Product.h:107:7:   required from ‘class Eigen::Product<Eigen::Matrix<float, 2, 3>, Eigen::Matrix<double, 3, 1>, 0>’
/home/wy/workdir/slambook/ch3/useEigen/eigenMatrix.cpp:52:65:   required from here
/usr/include/eigen3/Eigen/src/Core/Product.h:41:98: error: no type named ‘ReturnType’ in ‘struct Eigen::internal::scalar_product_traits<float, double>’
   typedef typename scalar_product_traits<typename Lhs::Scalar, typename Rhs::Scalar>::ReturnType Scalar;
                                                                                                  ^
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/wy/workdir/slambook/ch3/useEigen/eigenMatrix.cpp:5:
/usr/include/eigen3/Eigen/src/Core/DenseBase.h: In instantiation of ‘class Eigen::DenseBase<Eigen::Product<Eigen::Matrix<float, 2, 3>, Eigen::Matrix<double, 3, 1>, 0> >’:
/usr/include/eigen3/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::Matrix<float, 2, 3>, Eigen::Matrix<double, 3, 1>, 0> >’
/usr/include/eigen3/Eigen/src/Core/Product.h:151:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::Matrix<float, 2, 3>, Eigen::Matrix<double, 3, 1>, 0, 3>’
/usr/include/eigen3/Eigen/src/Core/Product.h:183:7:   required from ‘class Eigen::ProductImpl<Eigen::Matrix<float, 2, 3>, Eigen::Matrix<double, 3, 1>, 0, Eigen::Dense>’
/usr/include/eigen3/Eigen/src/Core/Product.h:107:7:   required from ‘class Eigen::Product<Eigen::Matrix<float, 2, 3>, Eigen::Matrix<double, 3, 1>, 0>’
/home/wy/workdir/slambook/ch3/useEigen/eigenMatrix.cpp:52:65:   required from here
/usr/include/eigen3/Eigen/src/Core/DenseBase.h:78:25: error: using-declaration for non-member at class scope
     using Base::operator*;
                         ^
/usr/include/eigen3/Eigen/src/Core/DenseBase.h:79:25: error: using-declaration for non-member at class scope
     using Base::operator/;
                         ^
/usr/include/eigen3/Eigen/src/Core/DenseBase.h:80:17: error: using-declaration for non-member at class scope
     using Base::derived;
                 ^
/usr/include/eigen3/Eigen/src/Core/DenseBase.h:81:17: error: using-declaration for non-member at class scope
     using Base::const_cast_derived;
                 ^
/usr/include/eigen3/Eigen/src/Core/DenseBase.h:82:17: error: using-declaration for non-member at class scope
     using Base::rows;
                 ^
/usr/include/eigen3/Eigen/src/Core/DenseBase.h:83:17: error: using-declaration for non-member at class scope
     using Base::cols;
                 ^
/usr/include/eigen3/Eigen/src/Core/DenseBase.h:84:17: error: using-declaration for non-member at class scope
     using Base::size;
                 ^
/usr/include/eigen3/Eigen/src/Core/DenseBase.h:85:17: error: using-declaration for non-member at class scope
     using Base::rowIndexByOuterInner;
                 ^
/usr/include/eigen3/Eigen/src/Core/DenseBase.h:86:17: error: using-declaration for non-member at class scope
     using Base::colIndexByOuterInner;
                 ^
/usr/include/eigen3/Eigen/src/Core/DenseBase.h:87:17: error: using-declaration for non-member at class scope
     using Base::coeff;
                 ^
/usr/include/eigen3/Eigen/src/Core/DenseBase.h:88:17: error: using-declaration for non-member at class scope
     using Base::coeffByOuterInner;
                 ^
/usr/include/eigen3/Eigen/src/Core/DenseBase.h:89:26: error: using-declaration for non-member at class scope
     using Base::operator();
                          ^
/usr/include/eigen3/Eigen/src/Core/DenseBase.h:90:26: error: using-declaration for non-member at class scope
     using Base::operator[];
                          ^
/usr/include/eigen3/Eigen/src/Core/DenseBase.h:91:17: error: using-declaration for non-member at class scope
     using Base::x;
                 ^
/usr/include/eigen3/Eigen/src/Core/DenseBase.h:92:17: error: using-declaration for non-member at class scope
     using Base::y;
                 ^
/usr/include/eigen3/Eigen/src/Core/DenseBase.h:93:17: error: using-declaration for non-member at class scope
     using Base::z;
                 ^
/usr/include/eigen3/Eigen/src/Core/DenseBase.h:94:17: error: using-declaration for non-member at class scope
     using Base::w;
                 ^
/usr/include/eigen3/Eigen/src/Core/DenseBase.h:95:17: error: using-declaration for non-member at class scope
     using Base::stride;
                 ^
/usr/include/eigen3/Eigen/src/Core/DenseBase.h:96:17: error: using-declaration for non-member at class scope
     using Base::innerStride;
                 ^
/usr/include/eigen3/Eigen/src/Core/DenseBase.h:97:17: error: using-declaration for non-member at class scope
     using Base::outerStride;
                 ^
/usr/include/eigen3/Eigen/src/Core/DenseBase.h:98:17: error: using-decla