Build testSigmaPoints failed

[alexwu-bayarea]

When I make -j, terminal shows:

In file included from /usr/include/eigen3/Eigen/Core:468:0,
                 from /usr/include/eigen3/Eigen/Dense:1,
                 from /home/jiatian/project/rovio/lightweight_filtering/include/lightweight_filtering/common.hpp:14,
                 from /home/jiatian/project/rovio/lightweight_filtering/include/lightweight_filtering/State.hpp:11,
                 from /home/jiatian/project/rovio/lightweight_filtering/include/lightweight_filtering/SigmaPoints.hpp:11,
                 from /home/jiatian/project/rovio/lightweight_filtering/src/testSigmaPoints.cpp:1:
/usr/include/eigen3/Eigen/src/Core/Transpositions.h: In instantiation of ‘const Eigen::Product<OtherDerived, Eigen::Transpose<Eigen::TranspositionsBase<Derived> >, 2> Eigen::operator*(const Eigen::MatrixBase<OtherDerived>&, const Eigen::Transpose<Eigen::TranspositionsBase<Derived> >&) [with OtherDerived = Eigen::Matrix<double, -1, -1>; TranspositionsDerived = Eigen::Transpositions<-1, -1, int>]’:
/home/jiatian/project/rovio/lightweight_filtering/include/lightweight_filtering/SigmaPoints.hpp:163:11:   required from ‘void LWF::SigmaPoints<State, N, L, O>::computeFromGaussian(LWF::SigmaPoints<State, N, L, O>::mtState, const MatrixXd&, const MatrixXd&) [with State = LWF::State<LWF::ArrayElement<LWF::ScalarElement, 4>, LWF::ArrayElement<LWF::VectorElement<3>, 3>, LWF::ArrayElement<LWF::QuaternionElement, 2> >; unsigned int N = 39; unsigned int L = 43; unsigned int O = 2; LWF::SigmaPoints<State, N, L, O>::mtState = LWF::State<LWF::ArrayElement<LWF::ScalarElement, 4>, LWF::ArrayElement<LWF::VectorElement<3>, 3>, LWF::ArrayElement<LWF::QuaternionElement, 2> >; Eigen::MatrixXd = Eigen::Matrix<double, -1, -1>]’
/home/jiatian/project/rovio/lightweight_filtering/src/testSigmaPoints.cpp:135:50:   required from here
/usr/include/eigen3/Eigen/src/Core/Transpositions.h:387:87: error: ‘const class Eigen::Transpose<Eigen::TranspositionsBase<Eigen::Transpositions<-1, -1, int> > >’ has no member named ‘derived’
       return Product<OtherDerived, Transpose, AliasFreeProduct>(matrix.derived(), trt.derived());
                                                                                   ~~~~^~~~~~~
CMakeFiles/testSigmaPoints.dir/build.make:62: recipe for target 'CMakeFiles/testSigmaPoints.dir/src/testSigmaPoints.cpp.o' failed
make[2]: *** [CMakeFiles/testSigmaPoints.dir/src/testSigmaPoints.cpp.o] Error 1
CMakeFiles/Makefile2:220: recipe for target 'CMakeFiles/testSigmaPoints.dir/all' failed
make[1]: *** [CMakeFiles/testSigmaPoints.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2