shruti@shruti-Inspiron-5458:~/gtsam/examples$ make SimpleRotation
g++     SimpleRotation.cpp   -o SimpleRotation
In file included from /usr/include/c++/5/cstdint:35:0,
                 from /usr/local/include/gtsam/base/types.h:28,
                 from /usr/local/include/gtsam/global_includes.h:22,
                 from /usr/local/include/gtsam/base/Vector.h:27,
                 from /usr/local/include/gtsam/base/Matrix.h:26,
                 from /usr/local/include/gtsam/base/Manifold.h:22,
                 from /usr/local/include/gtsam/base/Lie.h:25,
                 from /usr/local/include/gtsam/base/VectorSpace.h:11,
                 from /usr/local/include/gtsam/geometry/Point2.h:20,
                 from /usr/local/include/gtsam/geometry/Rot2.h:21,
                 from SimpleRotation.cpp:26:
/usr/include/c++/5/bits/c++0x_warning.h:32:2: error: #error This file requires compiler and library support for the ISO C++ 2011 standard. This support must be enabled with the -std=c++11 or -std=gnu++11 compiler options.
 #error This file requires compiler and library support \
  ^
In file included from /usr/local/include/gtsam/global_includes.h:22:0,
                 from /usr/local/include/gtsam/base/Vector.h:27,
                 from /usr/local/include/gtsam/base/Matrix.h:26,
                 from /usr/local/include/gtsam/base/Manifold.h:22,
                 from /usr/local/include/gtsam/base/Lie.h:25,
                 from /usr/local/include/gtsam/base/VectorSpace.h:11,
                 from /usr/local/include/gtsam/geometry/Point2.h:20,
                 from /usr/local/include/gtsam/geometry/Rot2.h:21,
                 from SimpleRotation.cpp:26:
/usr/local/include/gtsam/base/types.h:57:16: error: ‘uint64_t’ in namespace ‘std’ does not name a type
   typedef std::uint64_t Key;
                ^
In file included from /usr/local/include/gtsam/inference/Symbol.h:21:0,
                 from SimpleRotation.cpp:31:
/usr/local/include/gtsam/inference/Key.h:33:37: error: ‘Key’ was not declared in this scope
 typedef boost::function<std::string(Key)> KeyFormatter;
                                     ^
/usr/local/include/gtsam/inference/Key.h:33:41: error: template argument 1 is invalid
 typedef boost::function<std::string(Key)> KeyFormatter;
                                         ^
/usr/local/include/gtsam/inference/Key.h:36:47: error: ‘Key’ was not declared in this scope
 GTSAM_EXPORT std::string _defaultKeyFormatter(Key key);
                                               ^
/usr/local/include/gtsam/inference/Key.h:41:50: error: invalid conversion from ‘std::__cxx11::string* {aka std::__cxx11::basic_string<char>*}’ to ‘gtsam::KeyFormatter {aka int}’ [-fpermissive]
 static const KeyFormatter DefaultKeyFormatter = &_defaultKeyFormatter;
                                                  ^
/usr/local/include/gtsam/inference/Key.h:44:50: error: ‘Key’ is not a member of ‘gtsam’
 GTSAM_EXPORT std::string _multirobotKeyFormatter(gtsam::Key key);
                                                  ^
/usr/local/include/gtsam/inference/Key.h:53:6: error: invalid conversion from ‘std::__cxx11::string* {aka std::__cxx11::basic_string<char>*}’ to ‘gtsam::KeyFormatter {aka int}’ [-fpermissive]
     &_multirobotKeyFormatter;
      ^
/usr/local/include/gtsam/inference/Key.h:56:20: error: ‘Key’ was not declared in this scope
 typedef FastVector<Key> KeyVector;
                    ^
/usr/local/include/gtsam/inference/Key.h:56:23: error: template argument 1 is invalid
 typedef FastVector<Key> KeyVector;
                       ^
/usr/local/include/gtsam/inference/Key.h:59:18: error: ‘Key’ was not declared in this scope
 typedef FastList<Key> KeyList;
                  ^
/usr/local/include/gtsam/inference/Key.h:59:21: error: template argument 1 is invalid
 typedef FastList<Key> KeyList;
                     ^
/usr/local/include/gtsam/inference/Key.h:60:17: error: ‘Key’ was not declared in this scope
 typedef FastSet<Key> KeySet;
                 ^
/usr/local/include/gtsam/inference/Key.h:60:20: error: template argument 1 is invalid
 typedef FastSet<Key> KeySet;
                    ^
/usr/local/include/gtsam/inference/Key.h:61:17: error: ‘Key’ was not declared in this scope
 typedef FastMap<Key, int> KeyGroupMap;
                 ^
/usr/local/include/gtsam/inference/Key.h:61:25: error: template argument 1 is invalid
 typedef FastMap<Key, int> KeyGroupMap;
                         ^
/usr/local/include/gtsam/inference/Key.h:64:28: error: variable or field ‘PrintKey’ declared void
 GTSAM_EXPORT void PrintKey(Key key, const std::string& s = "",
                            ^
/usr/local/include/gtsam/inference/Key.h:64:28: error: ‘Key’ was not declared in this scope
/usr/local/include/gtsam/inference/Key.h:64:37: error: expected primary-expression before ‘const’
 GTSAM_EXPORT void PrintKey(Key key, const std::string& s = "",
                                     ^
/usr/local/include/gtsam/inference/Key.h:65:5: error: expected primary-expression before ‘const’
     const KeyFormatter& keyFormatter = DefaultKeyFormatter);
     ^
/usr/local/include/gtsam/inference/Key.h:83:15: error: ‘Key’ was not declared in this scope
 struct traits<Key> {
               ^
/usr/local/include/gtsam/inference/Key.h:83:18: error: template argument 1 is invalid
 struct traits<Key> {
                  ^
In file included from SimpleRotation.cpp:31:0:
/usr/local/include/gtsam/inference/Symbol.h:37:8: error: ‘uint64_t’ in namespace ‘std’ does not name a type
   std::uint64_t j_;
        ^
/usr/local/include/gtsam/inference/Symbol.h:52:32: error: ‘std::uint64_t’ has not been declared
   Symbol(unsigned char c, std::uint64_t j) :
                                ^
/usr/local/include/gtsam/inference/Symbol.h:57:14: error: expected ‘)’ before ‘key’
   Symbol(Key key);
              ^
/usr/local/include/gtsam/inference/Symbol.h:60:3: error: ‘Key’ does not name a type
   Key key() const;
   ^
/usr/local/include/gtsam/inference/Symbol.h:63:12: error: expected type-specifier before ‘Key’
   operator Key() const { return key(); }
            ^
/usr/local/include/gtsam/inference/Symbol.h:77:8: error: ‘uint64_t’ in namespace ‘std’ does not name a type
   std::uint64_t index() const {
        ^
/usr/local/include/gtsam/inference/Symbol.h:95:19: error: ‘Key’ has not been declared
   bool operator==(Key comp) const {
                   ^
/usr/local/include/gtsam/inference/Symbol.h:105:19: error: ‘Key’ has not been declared
   bool operator!=(Key comp) const {
                   ^
/usr/local/include/gtsam/inference/Symbol.h:114:31: error: ‘Key’ was not declared in this scope
   static boost::function<bool(Key)> ChrTest(unsigned char c);
                               ^
/usr/local/include/gtsam/inference/Symbol.h:114:35: error: template argument 1 is invalid
   static boost::function<bool(Key)> ChrTest(unsigned char c);
                                   ^
/usr/local/include/gtsam/inference/Symbol.h: In constructor ‘gtsam::Symbol::Symbol()’:
/usr/local/include/gtsam/inference/Symbol.h:43:12: error: class ‘gtsam::Symbol’ does not have any field named ‘j_’
     c_(0), j_(0) {
            ^
/usr/local/include/gtsam/inference/Symbol.h: In copy constructor ‘gtsam::Symbol::Symbol(const gtsam::Symbol&)’:
/usr/local/include/gtsam/inference/Symbol.h:48:17: error: class ‘gtsam::Symbol’ does not have any field named ‘j_’
     c_(key.c_), j_(key.j_) {
                 ^
/usr/local/include/gtsam/inference/Symbol.h:48:24: error: ‘const class gtsam::Symbol’ has no member named ‘j_’
     c_(key.c_), j_(key.j_) {
                        ^
/usr/local/include/gtsam/inference/Symbol.h: In constructor ‘gtsam::Symbol::Symbol(unsigned char, int)’:
/usr/local/include/gtsam/inference/Symbol.h:53:12: error: class ‘gtsam::Symbol’ does not have any field named ‘j_’
     c_(c), j_(j) {
            ^
/usr/local/include/gtsam/inference/Symbol.h: In member function ‘bool gtsam::Symbol::operator<(const gtsam::Symbol&) const’:
/usr/local/include/gtsam/inference/Symbol.h:86:46: error: ‘j_’ was not declared in this scope
     return c_ < comp.c_ || (comp.c_ == c_ && j_ < comp.j_);
                                              ^
/usr/local/include/gtsam/inference/Symbol.h:86:56: error: ‘const class gtsam::Symbol’ has no member named ‘j_’
     return c_ < comp.c_ || (comp.c_ == c_ && j_ < comp.j_);
                                                        ^
/usr/local/include/gtsam/inference/Symbol.h: In member function ‘bool gtsam::Symbol::operator==(const gtsam::Symbol&) const’:
/usr/local/include/gtsam/inference/Symbol.h:91:34: error: ‘const class gtsam::Symbol’ has no member named ‘j_’
     return comp.c_ == c_ && comp.j_ == j_;
                                  ^
/usr/local/include/gtsam/inference/Symbol.h:91:40: error: ‘j_’ was not declared in this scope
     return comp.c_ == c_ && comp.j_ == j_;
                                        ^
/usr/local/include/gtsam/inference/Symbol.h: In member function ‘bool gtsam::Symbol::operator==(int) const’:
/usr/local/include/gtsam/inference/Symbol.h:96:21: error: ‘Key’ was not declared in this scope
     return comp == (Key)(*this);
                     ^
/usr/local/include/gtsam/inference/Symbol.h: In member function ‘bool gtsam::Symbol::operator!=(const gtsam::Symbol&) const’:
/usr/local/include/gtsam/inference/Symbol.h:101:34: error: ‘const class gtsam::Symbol’ has no member named ‘j_’
     return comp.c_ != c_ || comp.j_ != j_;
                                  ^
/usr/local/include/gtsam/inference/Symbol.h:101:40: error: ‘j_’ was not declared in this scope
     return comp.c_ != c_ || comp.j_ != j_;
                                        ^
/usr/local/include/gtsam/inference/Symbol.h: In member function ‘bool gtsam::Symbol::operator!=(int) const’:
/usr/local/include/gtsam/inference/Symbol.h:106:21: error: ‘Key’ was not declared in this scope
     return comp != (Key)(*this);
                     ^
In file included from /usr/local/include/gtsam/base/Vector.h:255:0,
                 from /usr/local/include/gtsam/base/Matrix.h:26,
                 from /usr/local/include/gtsam/base/Manifold.h:22,
                 from /usr/local/include/gtsam/base/Lie.h:25,
                 from /usr/local/include/gtsam/base/VectorSpace.h:11,
                 from /usr/local/include/gtsam/geometry/Point2.h:20,
                 from /usr/local/include/gtsam/geometry/Rot2.h:21,
                 from SimpleRotation.cpp:26:
/usr/local/include/gtsam/inference/Symbol.h: In member function ‘void gtsam::Symbol::serialize(ARCHIVE&, unsigned int)’:
/usr/local/include/gtsam/inference/Symbol.h:123:10: error: ‘j_’ was not declared in this scope
     ar & BOOST_SERIALIZATION_NVP(j_);
          ^
In file included from SimpleRotation.cpp:31:0:
/usr/local/include/gtsam/inference/Symbol.h: At global scope:
/usr/local/include/gtsam/inference/Symbol.h:128:8: error: ‘Key’ does not name a type
 inline Key symbol(unsigned char c, std::uint64_t j) { return (Key)Symbol(c,j); 
        ^
/usr/local/include/gtsam/inference/Symbol.h:131:32: error: ‘gtsam::symbolChr’ declared as an ‘inline’ variable
 inline unsigned char symbolChr(Key key) { return Symbol(key).chr(); }
                                ^
/usr/local/include/gtsam/inference/Symbol.h:131:32: error: ‘Key’ was not declared in this scope
/usr/local/include/gtsam/inference/Symbol.h:131:41: error: expected ‘,’ or ‘;’ before ‘{’ token
 inline unsigned char symbolChr(Key key) { return Symbol(key).chr(); }
                                         ^
/usr/local/include/gtsam/inference/Symbol.h:134:13: error: ‘uint64_t’ in namespace ‘std’ does not name a type
 inline std::uint64_t symbolIndex(Key key) { return Symbol(key).index(); }
             ^
/usr/local/include/gtsam/inference/Symbol.h:137:8: error: ‘Key’ does not name a type
 inline Key A(std::uint64_t j) { return Symbol('a', j); }
        ^
/usr/local/include/gtsam/inference/Symbol.h:138:8: error: ‘Key’ does not name a type
 inline Key B(std::uint64_t j) { return Symbol('b', j); }
        ^
/usr/local/include/gtsam/inference/Symbol.h:139:8: error: ‘Key’ does not name a type
 inline Key C(std::uint64_t j) { return Symbol('c', j); }
        ^
/usr/local/include/gtsam/inference/Symbol.h:140:8: error: ‘Key’ does not name a type
 inline Key D(std::uint64_t j) { return Symbol('d', j); }
        ^
/usr/local/include/gtsam/inference/Symbol.h:141:8: error: ‘Key’ does not name a type
 inline Key E(std::uint64_t j) { return Symbol('e', j); }
        ^
/usr/local/include/gtsam/inference/Symbol.h:142:8: error: ‘Key’ does not name a type
 inline Key F(std::uint64_t j) { return Symbol('f', j); }
        ^
/usr/local/include/gtsam/inference/Symbol.h:143:8: error: ‘Key’ does not name a type
 inline Key G(std::uint64_t j) { return Symbol('g', j); }
        ^
/usr/local/include/gtsam/inference/Symbol.h:144:8: error: ‘Key’ does not name a type
 inline Key H(std::uint64_t j) { return Symbol('h', j); }
        ^
/usr/local/include/gtsam/inference/Symbol.h:145:8: error: ‘Key’ does not name a type
 inline Key I(std::uint64_t j) { return Symbol('i', j); }
        ^
/usr/local/include/gtsam/inference/Symbol.h:146:8: error: ‘Key’ does not name a type
 inline Key J(std::uint64_t j) { return Symbol('j', j); }
        ^
/usr/local/include/gtsam/inference/Symbol.h:147:8: error: ‘Key’ does not name a type
 inline Key K(std::uint64_t j) { return Symbol('k', j); }
        ^
/usr/local/include/gtsam/inference/Symbol.h:148:8: error: ‘Key’ does not name a type
 inline Key L(std::uint64_t j) { return Symbol('l', j); }
        ^
/usr/local/include/gtsam/inference/Symbol.h:149:8: error: ‘Key’ does not name a type
 inline Key M(std::uint64_t j) { return Symbol('m', j); }
        ^
/usr/local/include/gtsam/inference/Symbol.h:150:8: error: ‘Key’ does not name a type
 inline Key N(std::uint64_t j) { return Symbol('n', j); }
        ^
/usr/local/include/gtsam/inference/Symbol.h:151:8: error: ‘Key’ does not name a type
 inline Key O(std::uint64_t j) { return Symbol('o', j); }
        ^
/usr/local/include/gtsam/inference/Symbol.h:152:8: error: ‘Key’ does not name a type
 inline Key P(std::uint64_t j) { return Symbol('p', j); }
        ^
/usr/local/include/gtsam/inference/Symbol.h:153:8: error: ‘Key’ does not name a type
 inline Key Q(std::uint64_t j) { return Symbol('q', j); }
        ^
/usr/local/include/gtsam/inference/Symbol.h:154:8: error: ‘Key’ does not name a type
 inline Key R(std::uint64_t j) { return Symbol('r', j); }
        ^
/usr/local/include/gtsam/inference/Symbol.h:155:8: error: ‘Key’ does not name a type
 inline Key S(std::uint64_t j) { return Symbol('s', j); }
        ^
/usr/local/include/gtsam/inference/Symbol.h:156:8: error: ‘Key’ does not name a type
 inline Key T(std::uint64_t j) { return Symbol('t', j); }
        ^
/usr/local/include/gtsam/inference/Symbol.h:157:8: error: ‘Key’ does not name a type
 inline Key U(std::uint64_t j) { return Symbol('u', j); }
        ^
/usr/local/include/gtsam/inference/Symbol.h:158:8: error: ‘Key’ does not name a type
 inline Key V(std::uint64_t j) { return Symbol('v', j); }
        ^
/usr/local/include/gtsam/inference/Symbol.h:159:8: error: ‘Key’ does not name a type
 inline Key W(std::uint64_t j) { return Symbol('w', j); }
        ^
/usr/local/include/gtsam/inference/Symbol.h:160:8: error: ‘Key’ does not name a type
 inline Key X(std::uint64_t j) { return Symbol('x', j); }
        ^
/usr/local/include/gtsam/inference/Symbol.h:161:8: error: ‘Key’ does not name a type
 inline Key Y(std::uint64_t j) { return Symbol('y', j); }
        ^
/usr/local/include/gtsam/inference/Symbol.h:162:8: error: ‘Key’ does not name a type
 inline Key Z(std::uint64_t j) { return Symbol('z', j); }
        ^
In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:23:0,
                 from /usr/local/include/gtsam/slam/PriorFactor.h:18,
                 from SimpleRotation.cpp:36:
/usr/local/include/gtsam/nonlinear/Values.h:79:9: error: ‘Key’ was not declared in this scope
         Key,
         ^
/usr/local/include/gtsam/nonlinear/Values.h:81:19: error: ‘Key’ was not declared in this scope
         std::less<Key>,
                   ^
/usr/local/include/gtsam/nonlinear/Values.h:81:22: error: template argument 1 is invalid
         std::less<Key>,
                      ^
/usr/local/include/gtsam/nonlinear/Values.h:83:62: error: wrong number of template arguments (1, should be 2)
         boost::fast_pool_allocator<std::pair<const Key, void*> > > KeyValueMap;
                                                              ^
In file included from /usr/include/c++/5/bits/stl_algobase.h:64:0,
                 from /usr/include/c++/5/bits/char_traits.h:39,
                 from /usr/include/c++/5/ios:40,
                 from /usr/include/c++/5/istream:38,
                 from /usr/include/c++/5/sstream:38,
                 from /usr/include/c++/5/complex:45,
                 from /usr/include/eigen3/Eigen/Core:70,
                 from /usr/include/eigen3/Eigen/Dense:1,
                 from /usr/local/include/gtsam/base/OptionalJacobian.h:22,
                 from /usr/local/include/gtsam/base/Matrix.h:25,
                 from /usr/local/include/gtsam/base/Manifold.h:22,
                 from /usr/local/include/gtsam/base/Lie.h:25,
                 from /usr/local/include/gtsam/base/VectorSpace.h:11,
                 from /usr/local/include/gtsam/geometry/Point2.h:20,
                 from /usr/local/include/gtsam/geometry/Rot2.h:21,
                 from SimpleRotation.cpp:26:
/usr/include/c++/5/bits/stl_pair.h:96:12: note: provided for ‘template<class _T1, class _T2> struct std::pair’
     struct pair
            ^
In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:23:0,
                 from /usr/local/include/gtsam/slam/PriorFactor.h:18,
                 from SimpleRotation.cpp:36:
/usr/local/include/gtsam/nonlinear/Values.h:83:64: error: template argument 1 is invalid
         boost::fast_pool_allocator<std::pair<const Key, void*> > > KeyValueMap;
                                                                ^
/usr/local/include/gtsam/nonlinear/Values.h:83:66: error: template argument 1 is invalid
         boost::fast_pool_allocator<std::pair<const Key, void*> > > KeyValueMap;
                                                                  ^
/usr/local/include/gtsam/nonlinear/Values.h:83:66: error: template argument 3 is invalid
/usr/local/include/gtsam/nonlinear/Values.h:83:66: error: template argument 5 is invalid
/usr/local/include/gtsam/nonlinear/Values.h:89:26: error: ‘::const_iterator’ has not been declared
     typedef KeyValueMap::const_iterator::value_type ConstKeyValuePtrPair;
                          ^
/usr/local/include/gtsam/nonlinear/Values.h:89:42: error: typedef name may not be a nested-name-specifier
     typedef KeyValueMap::const_iterator::value_type ConstKeyValuePtrPair;
                                          ^
/usr/local/include/gtsam/nonlinear/Values.h:89:42: error: expected ‘;’ at end of member declaration
/usr/local/include/gtsam/nonlinear/Values.h:89:53: error: ‘ConstKeyValuePtrPair’ does not name a type
     typedef KeyValueMap::const_iterator::value_type ConstKeyValuePtrPair;
                                                     ^
/usr/local/include/gtsam/nonlinear/Values.h:90:26: error: ‘::iterator’ has not been declared
     typedef KeyValueMap::iterator::value_type KeyValuePtrPair;
                          ^
/usr/local/include/gtsam/nonlinear/Values.h:90:36: error: typedef name may not be a nested-name-specifier
     typedef KeyValueMap::iterator::value_type KeyValuePtrPair;
                                    ^
/usr/local/include/gtsam/nonlinear/Values.h:90:36: error: expected ‘;’ at end of member declaration
/usr/local/include/gtsam/nonlinear/Values.h:90:36: error: redeclaration of ‘typedef<typeprefixerror> gtsam::Values::value_type’
/usr/local/include/gtsam/nonlinear/Values.h:89:42: note: previous declaration ‘typedef<typeprefixerror> gtsam::Values::value_type’
     typedef KeyValueMap::const_iterator::value_type ConstKeyValuePtrPair;
                                          ^
/usr/local/include/gtsam/nonlinear/Values.h:90:47: error: ‘KeyValuePtrPair’ does not name a type
     typedef KeyValueMap::iterator::value_type KeyValuePtrPair;
                                               ^
/usr/local/include/gtsam/nonlinear/Values.h:102:13: error: ‘Key’ does not name a type
       const Key key; ///< The key
             ^
/usr/local/include/gtsam/nonlinear/Values.h:105:24: error: expected ‘)’ before ‘_key’
       KeyValuePair(Key _key, Value& _value) : key(_key), value(_value) {}
                        ^
/usr/local/include/gtsam/nonlinear/Values.h:110:13: error: ‘Key’ does not name a type
       const Key key; ///< The key
             ^
/usr/local/include/gtsam/nonlinear/Values.h:113:29: error: expected ‘)’ before ‘_key’
       ConstKeyValuePair(Key _key, const Value& _value) : key(_key), value(_valu
                             ^
/usr/local/include/gtsam/nonlinear/Values.h:119:62: error: template argument 2 is invalid
         boost::function1<KeyValuePair, const KeyValuePtrPair&>, KeyValueMap::it
                                                              ^
/usr/local/include/gtsam/nonlinear/Values.h:119:86: error: template argument 1 is invalid
 nction1<KeyValuePair, const KeyValuePtrPair&>, KeyValueMap::iterator> iterator;
                                                                     ^
/usr/local/include/gtsam/nonlinear/Values.h:119:86: error: template argument 2 is invalid
/usr/local/include/gtsam/nonlinear/Values.h:123:72: error: template argument 2 is invalid
      boost::function1<ConstKeyValuePair, const ConstKeyValuePtrPair&>, KeyValue
                                                                     ^
/usr/local/include/gtsam/nonlinear/Values.h:123:102: error: template argument 1 is invalid
 ValuePair, const ConstKeyValuePtrPair&>, KeyValueMap::const_iterator> const_ite
                                                                     ^
/usr/local/include/gtsam/nonlinear/Values.h:123:102: error: template argument 2 is invalid
/usr/local/include/gtsam/nonlinear/Values.h:127:62: error: template argument 2 is invalid
         boost::function1<KeyValuePair, const KeyValuePtrPair&>, KeyValueMap::re
                                                              ^
/usr/local/include/gtsam/nonlinear/Values.h:127:94: error: template argument 1 is invalid
 KeyValuePair, const KeyValuePtrPair&>, KeyValueMap::reverse_iterator> reverse_i
                                                                     ^
/usr/local/include/gtsam/nonlinear/Values.h:127:94: error: template argument 2 is invalid
/usr/local/include/gtsam/nonlinear/Values.h:131:72: error: template argument 2 is invalid
      boost::function1<ConstKeyValuePair, const ConstKeyValuePtrPair&>, KeyValue
                                                                     ^
/usr/local/include/gtsam/nonlinear/Values.h:131:110: error: template argument 1 is invalid
 r, const ConstKeyValuePtrPair&>, KeyValueMap::const_reverse_iterator> const_rev
                                                                     ^
/usr/local/include/gtsam/nonlinear/Values.h:131:110: error: template argument 2 is invalid
In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:23:0,
                 from /usr/local/include/gtsam/slam/PriorFactor.h:18,
                 from SimpleRotation.cpp:36:
/usr/local/include/gtsam/nonlinear/Values.h:133:26: error: redeclaration of ‘typedef struct gtsam::Values::KeyValuePair gtsam::Values::value_type’
     typedef KeyValuePair value_type;
                          ^
In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:23:0,
                 from /usr/local/include/gtsam/slam/PriorFactor.h:18,
                 from SimpleRotation.cpp:36:
/usr/local/include/gtsam/nonlinear/Values.h:89:42: note: previous declaration ‘typedef<typeprefixerror> gtsam::Values::value_type’
     typedef KeyValueMap::const_iterator::value_type ConstKeyValuePtrPair;
                                          ^
In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:23:0,
                 from /usr/local/include/gtsam/slam/PriorFactor.h:18,
                 from SimpleRotation.cpp:36:
/usr/local/include/gtsam/nonlinear/Values.h:150:18: error: expected ‘,’ or ‘...’ before ‘&&’ token
     Values(Values&& other);
                  ^
/usr/local/include/gtsam/nonlinear/Values.h:150:26: error: invalid constructor; you probably meant ‘gtsam::Values (const gtsam::Values&)’
     Values(Values&& other);
                          ^
/usr/local/include/gtsam/nonlinear/Values.h:183:18: error: ‘Key’ has not been declared
     ValueType at(Key j) const;
                  ^
/usr/local/include/gtsam/nonlinear/Values.h:193:18: error: expected ‘;’ at end of member declaration
     const Value& at(Key j) const;
                  ^
/usr/local/include/gtsam/nonlinear/Values.h:193:21: error: ‘const gtsam::Value& gtsam::Values::at’ conflicts with a previous declaration
     const Value& at(Key j) const;
                     ^
/usr/local/include/gtsam/nonlinear/Values.h:183:15: note: previous declaration ‘ValueType gtsam::Values::at(int) const’
     ValueType at(Key j) const;
               ^
/usr/local/include/gtsam/nonlinear/Values.h:193:25: error: expected ‘)’ before ‘j’
     const Value& at(Key j) const;
                         ^
/usr/local/include/gtsam/nonlinear/Values.h:198:17: error: ‘Key’ has not been declared
     bool exists(Key j) const;
                 ^
/usr/local/include/gtsam/nonlinear/Values.h:205:46: error: ‘Key’ has not been declared
     boost::optional<const ValueType&> exists(Key j) const;
                                              ^
/usr/local/include/gtsam/nonlinear/Values.h:209:19: error: ‘Key’ has not been declared
     iterator find(Key j) { return boost::make_transform_iterator(values_.find(j
                   ^
/usr/local/include/gtsam/nonlinear/Values.h:213:25: error: ‘Key’ has not been declared
     const_iterator find(Key j) const { return boost::make_transform_iterator(va
                         ^
/usr/local/include/gtsam/nonlinear/Values.h:216:26: error: ‘Key’ has not been declared
     iterator lower_bound(Key j) { return boost::make_transform_iterator(values_
                          ^
/usr/local/include/gtsam/nonlinear/Values.h:219:32: error: ‘Key’ has not been declared
     const_iterator lower_bound(Key j) const { return boost::make_transform_iter
                                ^
/usr/local/include/gtsam/nonlinear/Values.h:222:26: error: ‘Key’ has not been declared
     iterator upper_bound(Key j) { return boost::make_transform_iterator(values_
                          ^
/usr/local/include/gtsam/nonlinear/Values.h:225:32: error: ‘Key’ has not been declared
     const_iterator upper_bound(Key j) const { return boost::make_transform_iter
                                ^
/usr/local/include/gtsam/nonlinear/Values.h:254:17: error: ‘Key’ has not been declared
     void insert(Key j, const Value& val);
                 ^
/usr/local/include/gtsam/nonlinear/Values.h:263:17: error: ‘Key’ has not been declared
     void insert(Key j, const ValueType& val);
                 ^
/usr/local/include/gtsam/nonlinear/Values.h:266:23: error: ‘Key’ has not been declared
     void insertDouble(Key j, double c) { insert<double>(j,c); }
                       ^
/usr/local/include/gtsam/nonlinear/Values.h:272:41: error: ‘Key’ has not been declared
     std::pair<iterator, bool> tryInsert(Key j, const Value& value);
                                         ^
/usr/local/include/gtsam/nonlinear/Values.h:275:17: error: ‘Key’ has not been declared
     void update(Key j, const Value& val);
                 ^
/usr/local/include/gtsam/nonlinear/Values.h:282:17: error: ‘Key’ has not been declared
     void update(Key j, const T& val);
                 ^
/usr/local/include/gtsam/nonlinear/Values.h:288:16: error: ‘Key’ has not been declared
     void erase(Key j);
                ^
/usr/local/include/gtsam/nonlinear/Values.h:325:39: error: ‘Key’ was not declared in this scope
     filter(const boost::function<bool(Key)>& filterFcn);
                                       ^
/usr/local/include/gtsam/nonlinear/Values.h:325:43: error: template argument 1 is invalid
     filter(const boost::function<bool(Key)>& filterFcn);
                                           ^
/usr/local/include/gtsam/nonlinear/Values.h:348:39: error: ‘Key’ was not declared in this scope
     filter(const boost::function<bool(Key)>& filterFcn = &_truePredicate<Key>);
                                       ^
/usr/local/include/gtsam/nonlinear/Values.h:348:43: error: type/value mismatch at argument 1 in template parameter list for ‘template<class Signature> class boost::function’
     filter(const boost::function<bool(Key)>& filterFcn = &_truePredicate<Key>);
                                           ^
/usr/local/include/gtsam/nonlinear/Values.h:348:43: note:   expected a type, got ‘(bool)(<expression error>)’
/usr/local/include/gtsam/nonlinear/Values.h:364:39: error: ‘Key’ was not declared in this scope
     filter(const boost::function<bool(Key)>& filterFcn) const;
                                       ^
/usr/local/include/gtsam/nonlinear/Values.h:364:43: error: template argument 1 is invalid
     filter(const boost::function<bool(Key)>& filterFcn) const;
                                           ^
/usr/local/include/gtsam/nonlinear/Values.h:386:39: error: ‘Key’ was not declared in this scope
     filter(const boost::function<bool(Key)>& filterFcn = &_truePredicate<Key>) 
                                       ^
/usr/local/include/gtsam/nonlinear/Values.h:386:43: error: type/value mismatch at argument 1 in template parameter list for ‘template<class Signature> class boost::function’
     filter(const boost::function<bool(Key)>& filterFcn = &_truePredicate<Key>) 
                                           ^
/usr/local/include/gtsam/nonlinear/Values.h:386:43: note:   expected a type, got ‘(bool)(<expression error>)’
/usr/local/include/gtsam/nonlinear/Values.h:392:57: error: ‘Key’ was not declared in this scope
     static bool filterHelper(const boost::function<bool(Key)> filter, const Con
                                                         ^
/usr/local/include/gtsam/nonlinear/Values.h:392:61: error: type/value mismatch at argument 1 in template parameter list for ‘template<class Signature> class boost::function’
     static bool filterHelper(const boost::function<bool(Key)> filter, const Con
                                                             ^
/usr/local/include/gtsam/nonlinear/Values.h:392:61: note:   expected a type, got ‘(bool)(<expression error>)’
/usr/local/include/gtsam/nonlinear/Values.h:405:85: error: expected unqualified-id before ‘::’ token
 KeyValuePair make_const_deref_pair(const KeyValueMap::const_iterator::value_typ
                                                                     ^
/usr/local/include/gtsam/nonlinear/Values.h:405:85: error: expected ‘)’ before ‘::’ token
/usr/local/include/gtsam/nonlinear/Values.h:405:71: error: expected ‘;’ at end of member declaration
   static ConstKeyValuePair make_const_deref_pair(const KeyValueMap::const_itera
                                                                     ^
/usr/local/include/gtsam/nonlinear/Values.h:405:87: error: ‘value_type’ in namespace ‘::’ does not name a type
 yValuePair make_const_deref_pair(const KeyValueMap::const_iterator::value_type&
                                                                     ^
/usr/local/include/gtsam/nonlinear/Values.h:408:68: error: expected unqualified-id before ‘::’ token
     static KeyValuePair make_deref_pair(const KeyValueMap::iterator::value_type
                                                                    ^
/usr/local/include/gtsam/nonlinear/Values.h:408:68: error: expected ‘)’ before ‘::’ token
/usr/local/include/gtsam/nonlinear/Values.h:408:60: error: expected ‘;’ at end of member declaration
     static KeyValuePair make_deref_pair(const KeyValueMap::iterator::value_type
                                                            ^
/usr/local/include/gtsam/nonlinear/Values.h:408:70: error: ‘value_type’ in namespace ‘::’ does not name a type
    static KeyValuePair make_deref_pair(const KeyValueMap::iterator::value_type&
                                                                     ^
/usr/local/include/gtsam/nonlinear/Values.h:348:74: error: ‘Key’ was not declared in this scope
     filter(const boost::function<bool(Key)>& filterFcn = &_truePredicate<Key>);
                                                                          ^
/usr/local/include/gtsam/nonlinear/Values.h:386:74: error: ‘Key’ was not declared in this scope
 ilter(const boost::function<bool(Key)>& filterFcn = &_truePredicate<Key>) const
                                                                     ^
In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:23:0,
                 from /usr/local/include/gtsam/slam/PriorFactor.h:18,
                 from SimpleRotation.cpp:36:
/usr/local/include/gtsam/nonlinear/Values.h: In constructor ‘gtsam::Values::ConstKeyValuePair::ConstKeyValuePair(const gtsam::Values::KeyValuePair&)’:
/usr/local/include/gtsam/nonlinear/Values.h:114:51: error: class ‘gtsam::Values::ConstKeyValuePair’ does not have any field named ‘key’
       ConstKeyValuePair(const KeyValuePair& kv) : key(kv.key), value(kv.value) 
                                                   ^
/usr/local/include/gtsam/nonlinear/Values.h:114:58: error: ‘const struct gtsam::Values::KeyValuePair’ has no member named ‘key’
       ConstKeyValuePair(const KeyValuePair& kv) : key(kv.key), value(kv.value) 
                                                          ^
In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:23:0,
                 from /usr/local/include/gtsam/slam/PriorFactor.h:18,
                 from SimpleRotation.cpp:36:
/usr/local/include/gtsam/nonlinear/Values.h: In member function ‘gtsam::Values::iterator gtsam::Values::find(int)’:
/usr/local/include/gtsam/nonlinear/Values.h:209:74: error: request for member ‘find’ in ‘((gtsam::Values*)this)->gtsam::Values::values_’, which is of non-class type ‘gtsam::Values::KeyValueMap {aka int}’
 terator find(Key j) { return boost::make_transform_iterator(values_.find(j), &m
                                                                     ^
/usr/local/include/gtsam/nonlinear/Values.h: In member function ‘gtsam::Values::const_iterator gtsam::Values::find(int) const’:
/usr/local/include/gtsam/nonlinear/Values.h:213:86: error: request for member ‘find’ in ‘((const gtsam::Values*)this)->gtsam::Values::values_’, which is of non-class type ‘const KeyValueMap {aka const int}’
 r find(Key j) const { return boost::make_transform_iterator(values_.find(j), &m
                                                                     ^
/usr/local/include/gtsam/nonlinear/Values.h: In member function ‘gtsam::Values::iterator gtsam::Values::lower_bound(int)’:
/usr/local/include/gtsam/nonlinear/Values.h:216:81: error: request for member ‘lower_bound’ in ‘((gtsam::Values*)this)->gtsam::Values::values_’, which is of non-class type ‘gtsam::Values::KeyValueMap {aka int}’
  lower_bound(Key j) { return boost::make_transform_iterator(values_.lower_bound
                                                                     ^
/usr/local/include/gtsam/nonlinear/Values.h: In member function ‘gtsam::Values::const_iterator gtsam::Values::lower_bound(int) const’:
/usr/local/include/gtsam/nonlinear/Values.h:219:93: error: request for member ‘lower_bound’ in ‘((const gtsam::Values*)this)->gtsam::Values::values_’, which is of non-class type ‘const KeyValueMap {aka const int}’
 _bound(Key j) const { return boost::make_transform_iterator(values_.lower_bound
                                                                     ^
/usr/local/include/gtsam/nonlinear/Values.h: In member function ‘gtsam::Values::iterator gtsam::Values::upper_bound(int)’:
/usr/local/include/gtsam/nonlinear/Values.h:222:81: error: request for member ‘upper_bound’ in ‘((gtsam::Values*)this)->gtsam::Values::values_’, which is of non-class type ‘gtsam::Values::KeyValueMap {aka int}’
  upper_bound(Key j) { return boost::make_transform_iterator(values_.upper_bound
                                                                     ^
/usr/local/include/gtsam/nonlinear/Values.h: In member function ‘gtsam::Values::const_iterator gtsam::Values::upper_bound(int) const’:
/usr/local/include/gtsam/nonlinear/Values.h:225:93: error: request for member ‘upper_bound’ in ‘((const gtsam::Values*)this)->gtsam::Values::values_’, which is of non-class type ‘const KeyValueMap {aka const int}’
 _bound(Key j) const { return boost::make_transform_iterator(values_.upper_bound
                                                                     ^
/usr/local/include/gtsam/nonlinear/Values.h: In member function ‘std::size_t gtsam::Values::size() const’:
/usr/local/include/gtsam/nonlinear/Values.h:228:42: error: request for member ‘size’ in ‘((const gtsam::Values*)this)->gtsam::Values::values_’, which is of non-class type ‘const KeyValueMap {aka const int}’
     size_t size() const { return values_.size(); }
                                          ^
/usr/local/include/gtsam/nonlinear/Values.h: In member function ‘bool gtsam::Values::empty() const’:
/usr/local/include/gtsam/nonlinear/Values.h:231:41: error: request for member ‘empty’ in ‘((const gtsam::Values*)this)->gtsam::Values::values_’, which is of non-class type ‘const KeyValueMap {aka const int}’
     bool empty() const { return values_.empty(); }
                                         ^
/usr/local/include/gtsam/nonlinear/Values.h: In member function ‘gtsam::Values::const_iterator gtsam::Values::begin() const’:
/usr/local/include/gtsam/nonlinear/Values.h:233:82: error: request for member ‘begin’ in ‘((const gtsam::Values*)this)->gtsam::Values::values_’, which is of non-class type ‘const KeyValueMap {aka const int}’
 rator begin() const { return boost::make_transform_iterator(values_.begin(), &m
                                                                     ^
/usr/local/include/gtsam/nonlinear/Values.h: In member function ‘gtsam::Values::const_iterator gtsam::Values::end() const’:
/usr/local/include/gtsam/nonlinear/Values.h:234:80: error: request for member ‘end’ in ‘((const gtsam::Values*)this)->gtsam::Values::values_’, which is of non-class type ‘const KeyValueMap {aka const int}’
 terator end() const { return boost::make_transform_iterator(values_.end(), &mak
                                                                     ^
/usr/local/include/gtsam/nonlinear/Values.h: In member function ‘gtsam::Values::iterator gtsam::Values::begin()’:
/usr/local/include/gtsam/nonlinear/Values.h:235:70: error: request for member ‘begin’ in ‘((gtsam::Values*)this)->gtsam::Values::values_’, which is of non-class type ‘gtsam::Values::KeyValueMap {aka int}’
    iterator begin() { return boost::make_transform_iterator(values_.begin(), &m
                                                                     ^
/usr/local/include/gtsam/nonlinear/Values.h: In member function ‘gtsam::Values::iterator gtsam::Values::end()’:
/usr/local/include/gtsam/nonlinear/Values.h:236:68: error: request for member ‘end’ in ‘((gtsam::Values*)this)->gtsam::Values::values_’, which is of non-class type ‘gtsam::Values::KeyValueMap {aka int}’
     iterator end() { return boost::make_transform_iterator(values_.end(), &make
                                                                    ^
/usr/local/include/gtsam/nonlinear/Values.h: In member function ‘gtsam::Values::const_reverse_iterator gtsam::Values::rbegin() const’:
/usr/local/include/gtsam/nonlinear/Values.h:237:91: error: request for member ‘rbegin’ in ‘((const gtsam::Values*)this)->gtsam::Values::values_’, which is of non-class type ‘const KeyValueMap {aka const int}’
 ator rbegin() const { return boost::make_transform_iterator(values_.rbegin(), &
                                                                     ^
/usr/local/include/gtsam/nonlinear/Values.h: In member function ‘gtsam::Values::const_reverse_iterator gtsam::Values::rend() const’:
/usr/local/include/gtsam/nonlinear/Values.h:238:89: error: request for member ‘rend’ in ‘((const gtsam::Values*)this)->gtsam::Values::values_’, which is of non-class type ‘const KeyValueMap {aka const int}’
 erator rend() const { return boost::make_transform_iterator(values_.rend(), &ma
                                                                     ^
/usr/local/include/gtsam/nonlinear/Values.h: In member function ‘gtsam::Values::reverse_iterator gtsam::Values::rbegin()’:
/usr/local/include/gtsam/nonlinear/Values.h:239:79: error: request for member ‘rbegin’ in ‘((gtsam::Values*)this)->gtsam::Values::values_’, which is of non-class type ‘gtsam::Values::KeyValueMap {aka int}’
 e_iterator rbegin() { return boost::make_transform_iterator(values_.rbegin(), &
                                                                     ^
/usr/local/include/gtsam/nonlinear/Values.h: In member function ‘gtsam::Values::reverse_iterator gtsam::Values::rend()’:
/usr/local/include/gtsam/nonlinear/Values.h:240:77: error: request for member ‘rend’ in ‘((gtsam::Values*)this)->gtsam::Values::values_’, which is of non-class type ‘gtsam::Values::KeyValueMap {aka int}’
 rse_iterator rend() { return boost::make_transform_iterator(values_.rend(), &ma
                                                                     ^
/usr/local/include/gtsam/nonlinear/Values.h: In member function ‘void gtsam::Values::swap(gtsam::Values&)’:
/usr/local/include/gtsam/nonlinear/Values.h:300:40: error: request for member ‘swap’ in ‘((gtsam::Values*)this)->gtsam::Values::values_’, which is of non-class type ‘gtsam::Values::KeyValueMap {aka int}’
     void swap(Values& other) { values_.swap(other.values_); }
                                        ^
/usr/local/include/gtsam/nonlinear/Values.h: In member function ‘void gtsam::Values::clear()’:
/usr/local/include/gtsam/nonlinear/Values.h:303:28: error: request for member ‘clear’ in ‘((gtsam::Values*)this)->gtsam::Values::values_’, which is of non-class type ‘gtsam::Values::KeyValueMap {aka int}’
     void clear() { values_.clear(); }
                            ^
/usr/local/include/gtsam/nonlinear/Values.h: In static member function ‘static bool gtsam::Values::filterHelper(int, const gtsam::Values::ConstKeyValuePair&)’:
/usr/local/include/gtsam/nonlinear/Values.h:395:31: error: ‘const struct gtsam::Values::ConstKeyValuePair’ has no member named ‘key’
       return filter(key_value.key) && (dynamic_cast<const GenericValue<ValueTyp
                               ^
/usr/local/include/gtsam/nonlinear/Values.h:395:34: error: expression cannot be used as a function
       return filter(key_value.key) && (dynamic_cast<const GenericValue<ValueTyp
                                  ^
/usr/local/include/gtsam/nonlinear/Values.h: At global scope:
/usr/local/include/gtsam/nonlinear/Values.h:416:11: error: ‘Key’ does not name a type
     const Key key_; ///< The key that already existed
           ^
/usr/local/include/gtsam/nonlinear/Values.h:423:32: error: expected ‘)’ before ‘key’
     ValuesKeyAlreadyExists(Key key) throw() :
                                ^
/usr/local/include/gtsam/nonlinear/Values.h:429:5: error: ‘Key’ does not name a type
     Key key() const throw() { return key_; }
     ^
/usr/local/include/gtsam/nonlinear/Values.h:439:11: error: ‘Key’ does not name a type
     const Key key_; ///< The key that does not exist
           ^
/usr/local/include/gtsam/nonlinear/Values.h:446:50: error: ‘Key’ has not been declared
     ValuesKeyDoesNotExist(const char* operation, Key key) throw() :
                                                  ^
/usr/local/include/gtsam/nonlinear/Values.h:452:5: error: ‘Key’ does not name a type
     Key key() const throw() { return key_; }
     ^
/usr/local/include/gtsam/nonlinear/Values.h: In constructor ‘gtsam::ValuesKeyDoesNotExist::ValuesKeyDoesNotExist(const char*, int)’:
/usr/local/include/gtsam/nonlinear/Values.h:447:30: error: class ‘gtsam::ValuesKeyDoesNotExist’ does not have any field named ‘key_’
       operation_(operation), key_(key) {}
                              ^
/usr/local/include/gtsam/nonlinear/Values.h: At global scope:
/usr/local/include/gtsam/nonlinear/Values.h:461:11: error: ‘Key’ does not name a type
     const Key key_; ///< The key requested
           ^
/usr/local/include/gtsam/nonlinear/Values.h:470:29: error: expected ‘)’ before ‘key’
     ValuesIncorrectType(Key key,
                             ^
/usr/local/include/gtsam/nonlinear/Values.h:477:5: error: ‘Key’ does not name a type
     Key key() const throw() { return key_; }
     ^
In file included from /usr/local/include/gtsam/nonlinear/Values.h:532:0,
                 from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:23,
                 from /usr/local/include/gtsam/slam/PriorFactor.h:18,
                 from SimpleRotation.cpp:36:
/usr/local/include/gtsam/nonlinear/Values-inl.h:38:11: error: ‘Key’ does not name a type
     const Key key; ///< The key
           ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:41:29: error: expected ‘)’ before ‘_key’
     _ValuesKeyValuePair(Key _key, ValueType& _value) : key(_key), value(_value)
                             ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:47:11: error: ‘Key’ does not name a type
     const Key key; ///< The key
           ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:50:34: error: expected ‘)’ before ‘_key’
     _ValuesConstKeyValuePair(Key _key, const ValueType& _value) :
                                  ^
/usr/local/include/gtsam/nonlinear/Values-inl.h: In constructor ‘gtsam::_ValuesConstKeyValuePair<ValueType>::_ValuesConstKeyValuePair(const gtsam::_ValuesKeyValuePair<ValueType>&)’:
/usr/local/include/gtsam/nonlinear/Values-inl.h:54:9: error: class ‘gtsam::_ValuesConstKeyValuePair<ValueType>’ does not have any field named ‘key’
         key(rhs.key), value(rhs.value) {
         ^
/usr/local/include/gtsam/nonlinear/Values-inl.h: At global scope:
/usr/local/include/gtsam/nonlinear/Values-inl.h:195:14: error: ‘Key’ was not declared in this scope
     FastList<Key> keys() const {
              ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:195:17: error: template argument 1 is invalid
     FastList<Key> keys() const {
                 ^
/usr/local/include/gtsam/nonlinear/Values-inl.h: In member function ‘int gtsam::Values::ConstFiltered<ValueType>::keys() const’:
/usr/local/include/gtsam/nonlinear/Values-inl.h:196:16: error: ‘Key’ was not declared in this scope
       FastList<Key> result;
                ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:196:19: error: template argument 1 is invalid
       FastList<Key> result;
                   ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:198:16: error: request for member ‘push_back’ in ‘result’, which is of non-class type ‘int’
         result.push_back(it->key);
                ^
/usr/local/include/gtsam/nonlinear/Values-inl.h: In constructor ‘gtsam::Values::Values(const gtsam::Values::Filtered<ValueType>&)’:
/usr/local/include/gtsam/nonlinear/Values-inl.h:222:7: error: ‘Key’ was not declared in this scope
       Key key = key_value.key;
       ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:223:14: error: ‘key’ was not declared in this scope
       insert(key, static_cast<const ValueType&>(key_value.value));
              ^
/usr/local/include/gtsam/nonlinear/Values-inl.h: In constructor ‘gtsam::Values::Values(const gtsam::Values::ConstFiltered<ValueType>&)’:
/usr/local/include/gtsam/nonlinear/Values-inl.h:231:7: error: ‘Key’ was not declared in this scope
       Key key = key_value.key;
       ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:232:14: error: ‘key’ was not declared in this scope
       insert(key, static_cast<const ValueType&>(key_value.value));
              ^
/usr/local/include/gtsam/nonlinear/Values-inl.h: At global scope:
/usr/local/include/gtsam/nonlinear/Values-inl.h:238:52: error: ‘Key’ was not declared in this scope
   inline Values::filter(const boost::function<bool(Key)>& filterFcn) {
                                                    ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:238:56: error: template argument 1 is invalid
   inline Values::filter(const boost::function<bool(Key)>& filterFcn) {
                                                        ^
In file included from /usr/include/c++/5/bits/stl_algobase.h:65:0,
                 from /usr/include/c++/5/bits/char_traits.h:39,
                 from /usr/include/c++/5/ios:40,
                 from /usr/include/c++/5/istream:38,
                 from /usr/include/c++/5/sstream:38,
                 from /usr/include/c++/5/complex:45,
                 from /usr/include/eigen3/Eigen/Core:70,
                 from /usr/include/eigen3/Eigen/Dense:1,
                 from /usr/local/include/gtsam/base/OptionalJacobian.h:22,
                 from /usr/local/include/gtsam/base/Matrix.h:25,
                 from /usr/local/include/gtsam/base/Manifold.h:22,
                 from /usr/local/include/gtsam/base/Lie.h:25,
                 from /usr/local/include/gtsam/base/VectorSpace.h:11,
                 from /usr/local/include/gtsam/geometry/Point2.h:20,
                 from /usr/local/include/gtsam/geometry/Rot2.h:21,
                 from SimpleRotation.cpp:26:
/usr/include/c++/5/bits/stl_iterator_base_types.h: In instantiation of ‘struct std::iterator_traits<int>’:
/usr/include/boost/iterator/iterator_categories.hpp:117:8:   required from ‘struct boost::iterators::iterator_traversal<int>’
/usr/include/boost/iterator/filter_iterator.hpp:40:11:   required from ‘struct boost::iterators::detail::filter_iterator_base<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>’
/usr/include/boost/iterator/filter_iterator.hpp:45:9:   required from ‘class boost::iterators::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>’
/usr/include/c++/5/bits/stl_iterator_base_types.h:168:53:   required from ‘struct std::iterator_traits<boost::iterators::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int> >’
/usr/include/boost/iterator/transform_iterator.hpp:51:17:   required from ‘struct boost::iterators::detail::transform_iterator_base<gtsam::_ValuesKeyValuePair<gtsam::Value> (*)(gtsam::Values::KeyValuePair), boost::iterators::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>, boost::iterators::use_default, boost::iterators::use_default>’
/usr/include/boost/iterator/transform_iterator.hpp:75:9:   required from ‘class boost::iterators::transform_iterator<gtsam::_ValuesKeyValuePair<gtsam::Value> (*)(gtsam::Values::KeyValuePair), boost::iterators::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>, boost::iterators::use_default, boost::iterators::use_default>’
/usr/local/include/gtsam/nonlinear/Values-inl.h:160:14:   required from ‘class gtsam::Values::Filtered<gtsam::Value>’
/usr/local/include/gtsam/nonlinear/Values-inl.h:238:68:   required from here
/usr/include/c++/5/bits/stl_iterator_base_types.h:168:53: error: ‘int’ is not a class, struct, or union type
       typedef typename _Iterator::iterator_category iterator_category;
                                                     ^
/usr/include/c++/5/bits/stl_iterator_base_types.h:169:53: error: ‘int’ is not a class, struct, or union type
       typedef typename _Iterator::value_type        value_type;
                                                     ^
/usr/include/c++/5/bits/stl_iterator_base_types.h:170:53: error: ‘int’ is not a class, struct, or union type
       typedef typename _Iterator::difference_type   difference_type;
                                                     ^
/usr/include/c++/5/bits/stl_iterator_base_types.h:171:53: error: ‘int’ is not a class, struct, or union type
       typedef typename _Iterator::pointer           pointer;
                                                     ^
/usr/include/c++/5/bits/stl_iterator_base_types.h:172:53: error: ‘int’ is not a class, struct, or union type
       typedef typename _Iterator::reference         reference;
                                                     ^
In file included from /usr/local/include/gtsam/nonlinear/Values.h:31:0,
                 from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:23,
                 from /usr/local/include/gtsam/slam/PriorFactor.h:18,
                 from SimpleRotation.cpp:36:
/usr/include/boost/iterator/filter_iterator.hpp: In instantiation of ‘struct boost::iterators::detail::filter_iterator_base<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>’:
/usr/include/boost/iterator/filter_iterator.hpp:45:9:   required from ‘class boost::iterators::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>’
/usr/include/c++/5/bits/stl_iterator_base_types.h:168:53:   required from ‘struct std::iterator_traits<boost::iterators::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int> >’
/usr/include/boost/iterator/transform_iterator.hpp:51:17:   required from ‘struct boost::iterators::detail::transform_iterator_base<gtsam::_ValuesKeyValuePair<gtsam::Value> (*)(gtsam::Values::KeyValuePair), boost::iterators::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>, boost::iterators::use_default, boost::iterators::use_default>’
/usr/include/boost/iterator/transform_iterator.hpp:75:9:   required from ‘class boost::iterators::transform_iterator<gtsam::_ValuesKeyValuePair<gtsam::Value> (*)(gtsam::Values::KeyValuePair), boost::iterators::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>, boost::iterators::use_default, boost::iterators::use_default>’
/usr/local/include/gtsam/nonlinear/Values-inl.h:160:14:   required from ‘class gtsam::Values::Filtered<gtsam::Value>’
/usr/local/include/gtsam/nonlinear/Values-inl.h:238:68:   required from here
/usr/include/boost/iterator/filter_iterator.hpp:40:11: error: no type named ‘type’ in ‘struct boost::iterators::iterator_traversal<int>’
         > type;
           ^
In file included from /usr/include/c++/5/bits/stl_algobase.h:65:0,
                 from /usr/include/c++/5/bits/char_traits.h:39,
                 from /usr/include/c++/5/ios:40,
                 from /usr/include/c++/5/istream:38,
                 from /usr/include/c++/5/sstream:38,
                 from /usr/include/c++/5/complex:45,
                 from /usr/include/eigen3/Eigen/Core:70,
                 from /usr/include/eigen3/Eigen/Dense:1,
                 from /usr/local/include/gtsam/base/OptionalJacobian.h:22,
                 from /usr/local/include/gtsam/base/Matrix.h:25,
                 from /usr/local/include/gtsam/base/Manifold.h:22,
                 from /usr/local/include/gtsam/base/Lie.h:25,
                 from /usr/local/include/gtsam/base/VectorSpace.h:11,
                 from /usr/local/include/gtsam/geometry/Point2.h:20,
                 from /usr/local/include/gtsam/geometry/Rot2.h:21,
                 from SimpleRotation.cpp:26:
/usr/include/c++/5/bits/stl_iterator_base_types.h: In instantiation of ‘struct std::iterator_traits<boost::iterators::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int> >’:
/usr/include/boost/iterator/transform_iterator.hpp:51:17:   required from ‘struct boost::iterators::detail::transform_iterator_base<gtsam::_ValuesKeyValuePair<gtsam::Value> (*)(gtsam::Values::KeyValuePair), boost::iterators::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>, boost::iterators::use_default, boost::iterators::use_default>’
/usr/include/boost/iterator/transform_iterator.hpp:75:9:   required from ‘class boost::iterators::transform_iterator<gtsam::_ValuesKeyValuePair<gtsam::Value> (*)(gtsam::Values::KeyValuePair), boost::iterators::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>, boost::iterators::use_default, boost::iterators::use_default>’
/usr/local/include/gtsam/nonlinear/Values-inl.h:160:14:   required from ‘class gtsam::Values::Filtered<gtsam::Value>’
/usr/local/include/gtsam/nonlinear/Values-inl.h:238:68:   required from here
/usr/include/c++/5/bits/stl_iterator_base_types.h:168:53: error: no type named ‘iterator_category’ in ‘class boost::iterators::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>’
       typedef typename _Iterator::iterator_category iterator_category;
                                                     ^
/usr/include/c++/5/bits/stl_iterator_base_types.h:169:53: error: no type named ‘value_type’ in ‘class boost::iterators::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>’
       typedef typename _Iterator::value_type        value_type;
                                                     ^
/usr/include/c++/5/bits/stl_iterator_base_types.h:170:53: error: no type named ‘difference_type’ in ‘class boost::iterators::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>’
       typedef typename _Iterator::difference_type   difference_type;
                                                     ^
/usr/include/c++/5/bits/stl_iterator_base_types.h:171:53: error: no type named ‘pointer’ in ‘class boost::iterators::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>’
       typedef typename _Iterator::pointer           pointer;
                                                     ^
/usr/include/c++/5/bits/stl_iterator_base_types.h:172:53: error: no type named ‘reference’ in ‘class boost::iterators::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>’
       typedef typename _Iterator::reference         reference;
                                                     ^
In file included from /usr/local/include/gtsam/nonlinear/Values.h:532:0,
                 from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:23,
                 from /usr/local/include/gtsam/slam/PriorFactor.h:18,
                 from SimpleRotation.cpp:36:
/usr/local/include/gtsam/nonlinear/Values-inl.h:245:45: error: ‘Key’ was not declared in this scope
   Values::filter(const boost::function<bool(Key)>& filterFcn) {
                                             ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:245:49: error: type/value mismatch at argument 1 in template parameter list for ‘template<class Signature> class boost::function’
   Values::filter(const boost::function<bool(Key)>& filterFcn) {
                                                 ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:245:49: note:   expected a type, got ‘(bool)(<expression error>)’
/usr/local/include/gtsam/nonlinear/Values-inl.h:251:52: error: ‘Key’ was not declared in this scope
   inline Values::filter(const boost::function<bool(Key)>& filterFcn) const {
                                                    ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:251:56: error: template argument 1 is invalid
   inline Values::filter(const boost::function<bool(Key)>& filterFcn) const {
                                                        ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:258:45: error: ‘Key’ was not declared in this scope
   Values::filter(const boost::function<bool(Key)>& filterFcn) const {
                                             ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:258:49: error: type/value mismatch at argument 1 in template parameter list for ‘template<class Signature> class boost::function’
   Values::filter(const boost::function<bool(Key)>& filterFcn) const {
                                                 ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:258:49: note:   expected a type, got ‘(bool)(<expression error>)’
/usr/local/include/gtsam/nonlinear/Values-inl.h:264:71: error: ‘Key’ was not declared in this scope
  inline bool Values::filterHelper<Value>(const boost::function<bool(Key)> filte
                                                                     ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:264:75: error: template argument 1 is invalid
 nline bool Values::filterHelper<Value>(const boost::function<bool(Key)> filter,
                                                                       ^
/usr/local/include/gtsam/nonlinear/Values-inl.h: In static member function ‘static bool gtsam::Values::filterHelper(int, const gtsam::Values::ConstKeyValuePair&) [with ValueType = gtsam::Value]’:
/usr/local/include/gtsam/nonlinear/Values-inl.h:267:30: error: ‘const struct gtsam::Values::ConstKeyValuePair’ has no member named ‘key’
      return filter(key_value.key);
                              ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:267:33: error: ‘filter’ cannot be used as a function
      return filter(key_value.key);
                                 ^
/usr/local/include/gtsam/nonlinear/Values-inl.h: At global scope:
/usr/local/include/gtsam/nonlinear/Values-inl.h:278:27: error: ‘Key’ has not been declared
      ValueType operator()(Key j, const Value* const pointer) {
                           ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:294:45: error: ‘Key’ has not been declared
      Eigen::Matrix<double, M, N> operator()(Key j, const Value* const pointer) 
                                             ^
/usr/local/include/gtsam/nonlinear/Values-inl.h: In member function ‘Eigen::Matrix<double, Rows, Cols> gtsam::internal::handle_matrix<Eigen::Matrix<double, Rows, Cols>, true>::operator()(int, const gtsam::Value*)’:
/usr/local/include/gtsam/nonlinear/Values-inl.h:297:77: error: ‘&’ cannot appear in a constant-expression
  return dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>&>(*pointer
                                                                     ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:297:78: error: template argument 3 is invalid
 return dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>&>(*pointer)
                                                                     ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:297:78: error: template argument 4 is invalid
/usr/local/include/gtsam/nonlinear/Values-inl.h:297:78: error: template argument 6 is invalid
/usr/local/include/gtsam/nonlinear/Values-inl.h:297:81: error: ‘pointer’ cannot appear in a constant-expression
 urn dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>&>(*pointer).va
                                                                     ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:297:81: error: ‘*’ cannot appear in a constant-expression
/usr/local/include/gtsam/nonlinear/Values-inl.h:297:90: error: ‘.’ cannot appear in a constant-expression
 namic_cast<const GenericValue<Eigen::Matrix<double, M, N>>&>(*pointer).value();
                                                                        ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:297:96: error: a function call cannot appear in a constant-expression
 namic_cast<const GenericValue<Eigen::Matrix<double, M, N>>&>(*pointer).value();
                                                                              ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:297:96: error: template argument 1 is invalid
/usr/local/include/gtsam/nonlinear/Values-inl.h:297:97: error: expected ‘>’ before ‘;’ token
 namic_cast<const GenericValue<Eigen::Matrix<double, M, N>>&>(*pointer).value();
                                                                               ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:297:97: error: expected ‘(’ before ‘;’ token
/usr/local/include/gtsam/nonlinear/Values-inl.h:297:97: error: expected primary-expression before ‘;’ token
/usr/local/include/gtsam/nonlinear/Values-inl.h:297:97: error: expected ‘)’ before ‘;’ token
/usr/local/include/gtsam/nonlinear/Values-inl.h: At global scope:
/usr/local/include/gtsam/nonlinear/Values-inl.h:308:45: error: ‘Key’ has not been declared
      Eigen::Matrix<double, M, N> operator()(Key j, const Value* const pointer) 
                                             ^
/usr/local/include/gtsam/nonlinear/Values-inl.h: In member function ‘Eigen::Matrix<double, Rows, Cols> gtsam::internal::handle_matrix<Eigen::Matrix<double, Rows, Cols>, false>::operator()(int, const gtsam::Value*)’:
/usr/local/include/gtsam/nonlinear/Values-inl.h:311:77: error: ‘&’ cannot appear in a constant-expression
  return dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>&>(*pointer
                                                                     ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:311:78: error: template argument 3 is invalid
 return dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>&>(*pointer)
                                                                     ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:311:78: error: template argument 4 is invalid
/usr/local/include/gtsam/nonlinear/Values-inl.h:311:78: error: template argument 6 is invalid
/usr/local/include/gtsam/nonlinear/Values-inl.h:311:81: error: ‘pointer’ cannot appear in a constant-expression
 urn dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>&>(*pointer).va
                                                                     ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:311:81: error: ‘*’ cannot appear in a constant-expression
/usr/local/include/gtsam/nonlinear/Values-inl.h:311:90: error: ‘.’ cannot appear in a constant-expression
 namic_cast<const GenericValue<Eigen::Matrix<double, M, N>>&>(*pointer).value();
                                                                        ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:311:96: error: a function call cannot appear in a constant-expression
 namic_cast<const GenericValue<Eigen::Matrix<double, M, N>>&>(*pointer).value();
                                                                              ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:311:96: error: template argument 1 is invalid
/usr/local/include/gtsam/nonlinear/Values-inl.h:311:97: error: expected ‘>’ before ‘;’ token
 namic_cast<const GenericValue<Eigen::Matrix<double, M, N>>&>(*pointer).value();
                                                                               ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:311:97: error: expected ‘(’ before ‘;’ token
/usr/local/include/gtsam/nonlinear/Values-inl.h:311:97: error: expected primary-expression before ‘;’ token
/usr/local/include/gtsam/nonlinear/Values-inl.h:311:97: error: expected ‘)’ before ‘;’ token
/usr/local/include/gtsam/nonlinear/Values-inl.h: At global scope:
/usr/local/include/gtsam/nonlinear/Values-inl.h:332:44: error: template argument 3 is invalid
    struct handle<Eigen::Matrix<double, M, N>> {
                                            ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:332:44: error: template argument 4 is invalid
/usr/local/include/gtsam/nonlinear/Values-inl.h:332:44: error: template argument 6 is invalid
/usr/local/include/gtsam/nonlinear/Values-inl.h:332:25: error: template argument 1 is invalid
    struct handle<Eigen::Matrix<double, M, N>> {
                         ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:343:25: error: ‘ValueType gtsam::Values::at’ is not a static data member of ‘class gtsam::Values’
    ValueType Values::at(Key j) const {
                         ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:343:25: error: template definition of non-template ‘ValueType gtsam::Values::at’
/usr/local/include/gtsam/nonlinear/Values-inl.h:343:25: error: ‘Key’ was not declared in this scope
/usr/local/include/gtsam/nonlinear/Values-inl.h:357:52: error: ‘boost::optional<const ValueType&> gtsam::Values::exists’ is not a static data member of ‘class gtsam::Values’
   boost::optional<const ValueType&> Values::exists(Key j) const {
                                                    ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:357:52: error: template definition of non-template ‘boost::optional<const ValueType&> gtsam::Values::exists’
/usr/local/include/gtsam/nonlinear/Values-inl.h:357:52: error: ‘Key’ was not declared in this scope
/usr/local/include/gtsam/nonlinear/Values-inl.h:380:23: error: variable or field ‘insert’ declared void
   void Values::insert(Key j, const ValueType& val) {
                       ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:380:23: error: ‘Key’ was not declared in this scope
/usr/local/include/gtsam/nonlinear/Values-inl.h:380:30: error: expected primary-expression before ‘const’
   void Values::insert(Key j, const ValueType& val) {
                              ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:386:23: error: variable or field ‘update’ declared void
   void Values::update(Key j, const ValueType& val) {
                       ^
/usr/local/include/gtsam/nonlinear/Values-inl.h:386:23: error: ‘Key’ was not declared in this scope
/usr/local/include/gtsam/nonlinear/Values-inl.h:386:30: error: expected primary-expression before ‘const’
   void Values::update(Key j, const ValueType& val) {
                              ^
In file included from /usr/local/include/gtsam/linear/GaussianFactor.h:23:0,
                 from /usr/local/include/gtsam/linear/JacobianFactor.h:21,
                 from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25,
                 from /usr/local/include/gtsam/slam/PriorFactor.h:18,
                 from SimpleRotation.cpp:36:
/usr/local/include/gtsam/inference/Factor.h:61:24: error: ‘Key’ was not declared in this scope
     typedef FastVector<Key>::iterator iterator;
                        ^
/usr/local/include/gtsam/inference/Factor.h:61:27: error: template argument 1 is invalid
     typedef FastVector<Key>::iterator iterator;
                           ^
/usr/local/include/gtsam/inference/Factor.h:61:30: error: expected ‘;’ at end of member declaration
     typedef FastVector<Key>::iterator iterator;
                              ^
/usr/local/include/gtsam/inference/Factor.h:61:39: error: declaration does not declare anything [-fpermissive]
     typedef FastVector<Key>::iterator iterator;
                                       ^
/usr/local/include/gtsam/inference/Factor.h:64:24: error: ‘Key’ was not declared in this scope
     typedef FastVector<Key>::const_iterator const_iterator;
                        ^
/usr/local/include/gtsam/inference/Factor.h:64:27: error: template argument 1 is invalid
     typedef FastVector<Key>::const_iterator const_iterator;
                           ^
/usr/local/include/gtsam/inference/Factor.h:64:30: error: expected ‘;’ at end of member declaration
     typedef FastVector<Key>::const_iterator const_iterator;
                              ^
/usr/local/include/gtsam/inference/Factor.h:64:45: error: declaration does not declare anything [-fpermissive]
     typedef FastVector<Key>::const_iterator const_iterator;
                                             ^
/usr/local/include/gtsam/inference/Factor.h:69:16: error: ‘Key’ was not declared in this scope
     FastVector<Key> keys_;
                ^
/usr/local/include/gtsam/inference/Factor.h:69:19: error: template argument 1 is invalid
     FastVector<Key> keys_;
                   ^
/usr/local/include/gtsam/inference/Factor.h:106:5: error: ‘Key’ does not name a type
     Key front() const { return keys_.front(); }
     ^
/usr/local/include/gtsam/inference/Factor.h:109:5: error: ‘Key’ does not name a type
     Key back() const { return keys_.back(); }
     ^
/usr/local/include/gtsam/inference/Factor.h:112:25: error: ‘Key’ has not been declared
     const_iterator find(Key key) const { return std::find(begin(), end(), key);
                         ^
/usr/local/include/gtsam/inference/Factor.h:115:22: error: ‘Key’ was not declared in this scope
     const FastVector<Key>& keys() const { return keys_; }
                      ^
/usr/local/include/gtsam/inference/Factor.h:115:25: error: template argument 1 is invalid
     const FastVector<Key>& keys() const { return keys_; }
                         ^
/usr/local/include/gtsam/inference/Factor.h:151:16: error: ‘Key’ was not declared in this scope
     FastVector<Key>& keys() { return keys_; }
                ^
/usr/local/include/gtsam/inference/Factor.h:151:19: error: template argument 1 is invalid
     FastVector<Key>& keys() { return keys_; }
                   ^
/usr/local/include/gtsam/inference/Factor.h: In member function ‘gtsam::Factor::const_iterator gtsam::Factor::begin() const’:
/usr/local/include/gtsam/inference/Factor.h:118:49: error: request for member ‘begin’ in ‘((const gtsam::Factor*)this)->gtsam::Factor::keys_’, which is of non-class type ‘const int’
     const_iterator begin() const { return keys_.begin(); }
                                                 ^
/usr/local/include/gtsam/inference/Factor.h: In member function ‘gtsam::Factor::const_iterator gtsam::Factor::end() const’:
/usr/local/include/gtsam/inference/Factor.h:121:47: error: request for member ‘end’ in ‘((const gtsam::Factor*)this)->gtsam::Factor::keys_’, which is of non-class type ‘const int’
     const_iterator end() const { return keys_.end(); }
                                               ^
/usr/local/include/gtsam/inference/Factor.h: In member function ‘std::size_t gtsam::Factor::size() const’:
/usr/local/include/gtsam/inference/Factor.h:126:40: error: request for member ‘size’ in ‘((const gtsam::Factor*)this)->gtsam::Factor::keys_’, which is of non-class type ‘const int’
     size_t size() const { return keys_.size(); }
                                        ^
/usr/local/include/gtsam/inference/Factor.h: In member function ‘gtsam::Factor::iterator gtsam::Factor::begin()’:
/usr/local/include/gtsam/inference/Factor.h:154:37: error: request for member ‘begin’ in ‘((gtsam::Factor*)this)->gtsam::Factor::keys_’, which is of non-class type ‘int’
     iterator begin() { return keys_.begin(); }
                                     ^
/usr/local/include/gtsam/inference/Factor.h: In member function ‘gtsam::Factor::iterator gtsam::Factor::end()’:
/usr/local/include/gtsam/inference/Factor.h:157:35: error: request for member ‘end’ in ‘((gtsam::Factor*)this)->gtsam::Factor::keys_’, which is of non-class type ‘int’
     iterator end() { return keys_.end(); }
                                   ^
In file included from /usr/local/include/gtsam/linear/JacobianFactor.h:21:0,
                 from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25,
                 from /usr/local/include/gtsam/slam/PriorFactor.h:18,
                 from SimpleRotation.cpp:36:
/usr/local/include/gtsam/linear/GaussianFactor.h: At global scope:
/usr/local/include/gtsam/linear/GaussianFactor.h:109:22: error: ‘Key’ was not declared in this scope
     virtual std::map<Key,Matrix> hessianBlockDiagonal() const = 0;
                      ^
/usr/local/include/gtsam/linear/GaussianFactor.h:109:32: error: template argument 1 is invalid
     virtual std::map<Key,Matrix> hessianBlockDiagonal() const = 0;
                                ^
/usr/local/include/gtsam/linear/GaussianFactor.h:109:32: error: template argument 3 is invalid
/usr/local/include/gtsam/linear/GaussianFactor.h:109:32: error: template argument 4 is invalid
/usr/local/include/gtsam/linear/GaussianFactor.h:129:49: error: ‘Key’ was not declared in this scope
     virtual void updateHessian(const FastVector<Key>& keys,
                                                 ^
/usr/local/include/gtsam/linear/GaussianFactor.h:129:52: error: template argument 1 is invalid
     virtual void updateHessian(const FastVector<Key>& keys,
                                                    ^
/usr/local/include/gtsam/linear/GaussianFactor.h:142:29: error: ‘Key’ has not been declared
     virtual Vector gradient(Key key, const VectorValues& x) const = 0;
                             ^
/usr/local/include/gtsam/linear/GaussianFactor.h:146:51: error: ‘Key’ has not been declared
     static DenseIndex Slot(const CONTAINER& keys, Key key) {
                                                   ^
In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25:0,
                 from /usr/local/include/gtsam/slam/PriorFactor.h:18,
                 from SimpleRotation.cpp:36:
/usr/local/include/gtsam/linear/JacobianFactor.h:123:24: error: expected ‘)’ before ‘i1’
     JacobianFactor(Key i1, const Matrix& A1,
                        ^
/usr/local/include/gtsam/linear/JacobianFactor.h:127:24: error: expected ‘)’ before ‘i1’
     JacobianFactor(Key i1, const Matrix& A1,
                        ^
/usr/local/include/gtsam/linear/JacobianFactor.h:132:24: error: expected ‘)’ before ‘i1’
     JacobianFactor(Key i1, const Matrix& A1, Key i2,
                        ^
/usr/local/include/gtsam/linear/JacobianFactor.h:199:22: error: ‘Key’ was not declared in this scope
     virtual std::map<Key,Matrix> hessianBlockDiagonal() const;
                      ^
/usr/local/include/gtsam/linear/JacobianFactor.h:199:32: error: template argument 1 is invalid
     virtual std::map<Key,Matrix> hessianBlockDiagonal() const;
                                ^
/usr/local/include/gtsam/linear/JacobianFactor.h:199:32: error: template argument 3 is invalid
/usr/local/include/gtsam/linear/JacobianFactor.h:199:32: error: template argument 4 is invalid
/usr/local/include/gtsam/linear/JacobianFactor.h:286:41: error: ‘Key’ was not declared in this scope
     void updateHessian(const FastVector<Key>& keys, SymmetricBlockMatrix* info)
                                         ^
/usr/local/include/gtsam/linear/JacobianFactor.h:286:44: error: template argument 1 is invalid
     void updateHessian(const FastVector<Key>& keys, SymmetricBlockMatrix* info)
                                            ^
/usr/local/include/gtsam/linear/JacobianFactor.h:316:21: error: ‘Key’ has not been declared
     Vector gradient(Key key, const VectorValues& x) const;
                     ^
In file included from /usr/local/include/gtsam/linear/JacobianFactor-inl.h:21:0,
                 from /usr/local/include/gtsam/linear/JacobianFactor.h:391,
                 from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25,
                 from /usr/local/include/gtsam/slam/PriorFactor.h:18,
                 from SimpleRotation.cpp:36:
/usr/local/include/gtsam/linear/linearExceptions.h:95:5: error: ‘Key’ does not name a type
     Key j_;
     ^
/usr/local/include/gtsam/linear/linearExceptions.h:97:44: error: expected ‘)’ before ‘j’
     IndeterminantLinearSystemException(Key j) throw() : j_(j) {}
                                            ^
/usr/local/include/gtsam/linear/linearExceptions.h:99:5: error: ‘Key’ does not name a type
     Key nearbyVariable() const { return j_; }
     ^
In file included from /usr/local/include/gtsam/linear/JacobianFactor.h:391:0,
                 from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25,
                 from /usr/local/include/gtsam/slam/PriorFactor.h:18,
                 from SimpleRotation.cpp:36:
/usr/local/include/gtsam/linear/JacobianFactor-inl.h: In constructor ‘gtsam::JacobianFactor::JacobianFactor(const KEYS&, const gtsam::VerticalBlockMatrix&, const SharedDiagonal&)’:
/usr/local/include/gtsam/linear/JacobianFactor-inl.h:43:32: error: request for member ‘size’ in ‘gtsam::JacobianFactor::Base:: keys_’, which is of non-class type ‘int’
     if((DenseIndex)Base::keys_.size() != augmentedMatrix.nBlocks() - 1)
                                ^
/usr/local/include/gtsam/linear/JacobianFactor-inl.h: In member function ‘void gtsam::JacobianFactor::fillTerms(const TERMS&, const Vector&, const SharedDiagonal&)’:
/usr/local/include/gtsam/linear/JacobianFactor-inl.h:67:17: error: request for member ‘resize’ in ‘gtsam::JacobianFactor::Base:: keys_’, which is of non-class type ‘int’
     Base::keys_.resize(terms.size());
                 ^
/usr/local/include/gtsam/linear/JacobianFactor-inl.h:73:23: error: ‘Key’ was not declared in this scope
       const std::pair<Key, Matrix>& term = *it;
                       ^
/usr/local/include/gtsam/linear/JacobianFactor-inl.h:73:34: error: template argument 1 is invalid
       const std::pair<Key, Matrix>& term = *it;
                                  ^
/usr/local/include/gtsam/linear/JacobianFactor-inl.h:74:31: error: request for member ‘second’ in ‘term’, which is of non-class type ‘const int’
       const Matrix& Ai = term.second;
                               ^
/usr/local/include/gtsam/linear/JacobianFactor-inl.h:84:23: error: ‘Key’ was not declared in this scope
       const std::pair<Key, Matrix>& term = *it;
                       ^
/usr/local/include/gtsam/linear/JacobianFactor-inl.h:84:34: error: template argument 1 is invalid
       const std::pair<Key, Matrix>& term = *it;
                                  ^
/usr/local/include/gtsam/linear/JacobianFactor-inl.h:85:11: error: expected ‘;’ before ‘key’
       Key key = term.first;
           ^
/usr/local/include/gtsam/linear/JacobianFactor-inl.h:86:31: error: request for member ‘second’ in ‘term’, which is of non-class type ‘const int’
       const Matrix& Ai = term.second;
                               ^
/usr/local/include/gtsam/linear/JacobianFactor-inl.h:93:20: error: invalid types ‘int[gtsam::DenseIndex {aka long int}]’ for array subscript
       Base::keys_[i] = key;
                    ^
/usr/local/include/gtsam/linear/JacobianFactor-inl.h:93:24: error: ‘key’ was not declared in this scope
       Base::keys_[i] = key;
                        ^
In file included from /usr/local/include/gtsam/slam/PriorFactor.h:18:0,
                 from SimpleRotation.cpp:36:
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h: At global scope:
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:138:35: error: ‘Key’ was not declared in this scope
   shared_ptr rekey(const std::map<Key,Key>& rekey_mapping) const;
                                   ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:138:39: error: ‘Key’ was not declared in this scope
   shared_ptr rekey(const std::map<Key,Key>& rekey_mapping) const;
                                       ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:138:42: error: template argument 1 is invalid
   shared_ptr rekey(const std::map<Key,Key>& rekey_mapping) const;
                                          ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:138:42: error: template argument 2 is invalid
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:138:42: error: template argument 3 is invalid
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:138:42: error: template argument 4 is invalid
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:144:38: error: ‘Key’ was not declared in this scope
   shared_ptr rekey(const std::vector<Key>& new_keys) const;
                                      ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:144:41: error: template argument 1 is invalid
   shared_ptr rekey(const std::vector<Key>& new_keys) const;
                                         ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:144:41: error: template argument 2 is invalid
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:144:14: error: ‘gtsam::NonlinearFactor::shared_ptr gtsam::NonlinearFactor::rekey(const int&) const’ cannot be overloaded
   shared_ptr rekey(const std::vector<Key>& new_keys) const;
              ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:138:14: error: with ‘gtsam::NonlinearFactor::shared_ptr gtsam::NonlinearFactor::rekey(const int&) const’
   shared_ptr rekey(const std::map<Key,Key>& rekey_mapping) const;
              ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:295:10: error: ‘Key’ does not name a type
   inline Key key() const { return keys_[0]; }
          ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:302:57: error: ‘Key’ has not been declared
   NoiseModelFactor1(const SharedNoiseModel& noiseModel, Key key1) :
                                                         ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h: In member function ‘virtual gtsam::Vector gtsam::NoiseModelFactor1<VALUE>::unwhitenedError(const gtsam::Values&, boost::optional<std::vector<Eigen::Matrix<double, -1, -1> >&>) const’:
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:310:36: error: invalid types ‘const int[int]’ for array subscript
       const X& x1 = x.at<X>(keys_[0]);
                                    ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h: At global scope:
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:371:57: error: ‘Key’ has not been declared
   NoiseModelFactor2(const SharedNoiseModel& noiseModel, Key j1, Key j2) :
                                                         ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:371:65: error: ‘Key’ has not been declared
   NoiseModelFactor2(const SharedNoiseModel& noiseModel, Key j1, Key j2) :
                                                                 ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:377:10: error: ‘Key’ does not name a type
   inline Key key1() const { return keys_[0];  }
          ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:378:10: error: ‘Key’ does not name a type
   inline Key key2() const {  return keys_[1];  }
          ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h: In member function ‘virtual gtsam::Vector gtsam::NoiseModelFactor2<VALUE1, VALUE2>::unwhitenedError(const gtsam::Values&, boost::optional<std::vector<Eigen::Matrix<double, -1, -1> >&>) const’:
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:384:38: error: invalid types ‘const int[int]’ for array subscript
       const X1& x1 = x.at<X1>(keys_[0]);
                                      ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:385:38: error: invalid types ‘const int[int]’ for array subscript
       const X2& x2 = x.at<X2>(keys_[1]);
                                      ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h: At global scope:
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:448:57: error: ‘Key’ has not been declared
   NoiseModelFactor3(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3)
                                                         ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:448:65: error: ‘Key’ has not been declared
   NoiseModelFactor3(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3)
                                                                 ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:448:73: error: ‘Key’ has not been declared
 NoiseModelFactor3(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3) :
                                                                       ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:454:10: error: ‘Key’ does not name a type
   inline Key key1() const { return keys_[0]; }
          ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:455:10: error: ‘Key’ does not name a type
   inline Key key2() const { return keys_[1]; }
          ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:456:10: error: ‘Key’ does not name a type
   inline Key key3() const { return keys_[2]; }
          ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h: In member function ‘virtual gtsam::Vector gtsam::NoiseModelFactor3<VALUE1, VALUE2, VALUE3>::unwhitenedError(const gtsam::Values&, boost::optional<std::vector<Eigen::Matrix<double, -1, -1> >&>) const’:
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:463:46: error: invalid types ‘const int[int]’ for array subscript
         return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(k
                                              ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:463:66: error: invalid types ‘const int[int]’ for array subscript
         return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(k
                                                                  ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:463:86: error: invalid types ‘const int[int]’ for array subscript
 aluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), (*H)[0]
                                                                     ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:465:46: error: invalid types ‘const int[int]’ for array subscript
         return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(k
                                              ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:465:66: error: invalid types ‘const int[int]’ for array subscript
         return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(k
                                                                  ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:465:86: error: invalid types ‘const int[int]’ for array subscript
 turn evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]));
                                                                            ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h: At global scope:
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:527:57: error: ‘Key’ has not been declared
   NoiseModelFactor4(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3,
                                                         ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:527:65: error: ‘Key’ has not been declared
   NoiseModelFactor4(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3,
                                                                 ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:527:73: error: ‘Key’ has not been declared
 iseModelFactor4(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key
                                                                     ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:527:81: error: ‘Key’ has not been declared
 elFactor4(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key j4) :
                                                                       ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:533:10: error: ‘Key’ does not name a type
   inline Key key1() const { return keys_[0]; }
          ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:534:10: error: ‘Key’ does not name a type
   inline Key key2() const { return keys_[1]; }
          ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:535:10: error: ‘Key’ does not name a type
   inline Key key3() const { return keys_[2]; }
          ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:536:10: error: ‘Key’ does not name a type
   inline Key key4() const { return keys_[3]; }
          ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h: In member function ‘virtual gtsam::Vector gtsam::NoiseModelFactor4<VALUE1, VALUE2, VALUE3, VALUE4>::unwhitenedError(const gtsam::Values&, boost::optional<std::vector<Eigen::Matrix<double, -1, -1> >&>) const’:
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:543:46: error: invalid types ‘const int[int]’ for array subscript
         return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(k
                                              ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:543:66: error: invalid types ‘const int[int]’ for array subscript
         return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(k
                                                                  ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:543:86: error: invalid types ‘const int[int]’ for array subscript
 aluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4
                                                                     ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:543:106: error: invalid types ‘const int[int]’ for array subscript
 (keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), (*H)[0]
                                                                     ^
In file included from /usr/local/include/gtsam/slam/PriorFactor.h:18:0,
                 from SimpleRotation.cpp:36:
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:545:46: error: invalid types ‘const int[int]’ for array subscript
         return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(k
                                              ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:545:66: error: invalid types ‘const int[int]’ for array subscript
         return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(k
                                                                  ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:545:86: error: invalid types ‘const int[int]’ for array subscript
 aluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4
                                                                     ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:545:106: error: invalid types ‘const int[int]’ for array subscript
 .at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]));
                                                                            ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h: At global scope:
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:610:57: error: ‘Key’ has not been declared
   NoiseModelFactor5(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3,
                                                         ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:610:65: error: ‘Key’ has not been declared
   NoiseModelFactor5(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3,
                                                                 ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:610:73: error: ‘Key’ has not been declared
 iseModelFactor5(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key
                                                                     ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:610:81: error: ‘Key’ has not been declared
 Factor5(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key j4, Key
                                                                     ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:610:89: error: ‘Key’ has not been declared
 5(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key j4, Key j5) :
                                                                       ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:616:10: error: ‘Key’ does not name a type
   inline Key key1() const { return keys_[0]; }
          ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:617:10: error: ‘Key’ does not name a type
   inline Key key2() const { return keys_[1]; }
          ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:618:10: error: ‘Key’ does not name a type
   inline Key key3() const { return keys_[2]; }
          ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:619:10: error: ‘Key’ does not name a type
   inline Key key4() const { return keys_[3]; }
          ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:620:10: error: ‘Key’ does not name a type
   inline Key key5() const { return keys_[4]; }
          ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h: In member function ‘virtual gtsam::Vector gtsam::NoiseModelFactor5<VALUE1, VALUE2, VALUE3, VALUE4, VALUE5>::unwhitenedError(const gtsam::Values&, boost::optional<std::vector<Eigen::Matrix<double, -1, -1> >&>) const’:
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:627:46: error: invalid types ‘const int[int]’ for array subscript
         return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(k
                                              ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:627:66: error: invalid types ‘const int[int]’ for array subscript
         return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(k
                                                                  ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:627:86: error: invalid types ‘const int[int]’ for array subscript
 aluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4
                                                                     ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:627:106: error: invalid types ‘const int[int]’ for array subscript
 (keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), x.at<X5
                                                                     ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:627:126: error: invalid types ‘const int[int]’ for array subscript
 (keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), x.at<X5>(keys_[4]), (*H)[0]
                                                                     ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:629:46: error: invalid types ‘const int[int]’ for array subscript
         return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(k
                                              ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:629:66: error: invalid types ‘const int[int]’ for array subscript
         return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(k
                                                                  ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:629:86: error: invalid types ‘const int[int]’ for array subscript
 aluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4
                                                                     ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:629:106: error: invalid types ‘const int[int]’ for array subscript
 (keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), x.at<X5
                                                                     ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:629:126: error: invalid types ‘const int[int]’ for array subscript
 .at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), x.at<X5>(keys_[4]));
                                                                            ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h: At global scope:
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:697:57: error: ‘Key’ has not been declared
   NoiseModelFactor6(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3,
                                                         ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:697:65: error: ‘Key’ has not been declared
   NoiseModelFactor6(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3,
                                                                 ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:697:73: error: ‘Key’ has not been declared
 iseModelFactor6(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key
                                                                     ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:697:81: error: ‘Key’ has not been declared
 Factor6(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key j4, Key
                                                                     ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:697:89: error: ‘Key’ has not been declared
 const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key j4, Key j5, Key
                                                                     ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:697:97: error: ‘Key’ has not been declared
 SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key j4, Key j5, Key j6) :
                                                                       ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:703:10: error: ‘Key’ does not name a type
   inline Key key1() const { return keys_[0]; }
          ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:704:10: error: ‘Key’ does not name a type
   inline Key key2() const { return keys_[1]; }
          ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:705:10: error: ‘Key’ does not name a type
   inline Key key3() const { return keys_[2]; }
          ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:706:10: error: ‘Key’ does not name a type
   inline Key key4() const { return keys_[3]; }
          ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:707:10: error: ‘Key’ does not name a type
   inline Key key5() const { return keys_[4]; }
          ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:708:10: error: ‘Key’ does not name a type
   inline Key key6() const { return keys_[5]; }
          ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h: In member function ‘virtual gtsam::Vector gtsam::NoiseModelFactor6<VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6>::unwhitenedError(const gtsam::Values&, boost::optional<std::vector<Eigen::Matrix<double, -1, -1> >&>) const’:
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:715:46: error: invalid types ‘const int[int]’ for array subscript
         return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(k
                                              ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:715:66: error: invalid types ‘const int[int]’ for array subscript
         return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(k
                                                                  ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:715:86: error: invalid types ‘const int[int]’ for array subscript
 aluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4
                                                                     ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:715:106: error: invalid types ‘const int[int]’ for array subscript
 (keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), x.at<X5
                                                                     ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:715:126: error: invalid types ‘const int[int]’ for array subscript
 (keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), x.at<X5>(keys_[4]), x.at<X6
                                                                     ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:715:146: error: invalid types ‘const int[int]’ for array subscript
 (keys_[2]), x.at<X4>(keys_[3]), x.at<X5>(keys_[4]), x.at<X6>(keys_[5]), (*H)[0]
                                                                     ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:717:46: error: invalid types ‘const int[int]’ for array subscript
         return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(k
                                              ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:717:66: error: invalid types ‘const int[int]’ for array subscript
         return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(k
                                                                  ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:717:86: error: invalid types ‘const int[int]’ for array subscript
 aluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4
                                                                     ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:717:106: error: invalid types ‘const int[int]’ for array subscript
 (keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), x.at<X5
                                                                     ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:717:126: error: invalid types ‘const int[int]’ for array subscript
 (keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), x.at<X5>(keys_[4]), x.at<X6
                                                                     ^
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:717:146: error: invalid types ‘const int[int]’ for array subscript
 .at<X3>(keys_[2]), x.at<X4>(keys_[3]), x.at<X5>(keys_[4]), x.at<X6>(keys_[5]));
                                                                            ^
In file included from SimpleRotation.cpp:36:0:
/usr/local/include/gtsam/slam/PriorFactor.h: At global scope:
/usr/local/include/gtsam/slam/PriorFactor.h:56:21: error: expected ‘)’ before ‘key’
     PriorFactor(Key key, const VALUE& prior, const SharedNoiseModel& model) :
                     ^
/usr/local/include/gtsam/slam/PriorFactor.h:61:21: error: expected ‘)’ before ‘key’
     PriorFactor(Key key, const VALUE& prior, const Matrix& covariance) :
                     ^
In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:26:0,
                 from SimpleRotation.cpp:40:
/usr/local/include/gtsam/inference/FactorGraph.h:155:19: error: ‘enable_if’ in namespace ‘std’ does not name a template type
     typename std::enable_if<std::is_base_of<FactorType, DERIVEDFACTOR>::value>:
                   ^
/usr/local/include/gtsam/inference/FactorGraph.h:155:28: error: expected unqualified-id before ‘<’ token
     typename std::enable_if<std::is_base_of<FactorType, DERIVEDFACTOR>::value>:
                            ^
/usr/local/include/gtsam/inference/FactorGraph.h:165:19: error: ‘enable_if’ in namespace ‘std’ does not name a template type
     typename std::enable_if<std::is_base_of<FactorType, DERIVEDFACTOR>::value>:
                   ^
/usr/local/include/gtsam/inference/FactorGraph.h:165:28: error: expected unqualified-id before ‘<’ token
     typename std::enable_if<std::is_base_of<FactorType, DERIVEDFACTOR>::value>:
                            ^
/usr/local/include/gtsam/inference/FactorGraph.h:172:19: error: ‘enable_if’ in namespace ‘std’ does not name a template type
     typename std::enable_if<std::is_base_of<FactorType, typename ITERATOR::valu
                   ^
/usr/local/include/gtsam/inference/FactorGraph.h:172:28: error: expected unqualified-id before ‘<’ token
     typename std::enable_if<std::is_base_of<FactorType, typename ITERATOR::valu
                            ^
/usr/local/include/gtsam/inference/FactorGraph.h:178:19: error: ‘enable_if’ in namespace ‘std’ does not name a template type
     typename std::enable_if<std::is_base_of<FactorType, typename CONTAINER::val
                   ^
/usr/local/include/gtsam/inference/FactorGraph.h:178:28: error: expected unqualified-id before ‘<’ token
     typename std::enable_if<std::is_base_of<FactorType, typename CONTAINER::val
                            ^
/usr/local/include/gtsam/inference/FactorGraph.h:186:19: error: ‘enable_if’ in namespace ‘std’ does not name a template type
     typename std::enable_if<std::is_base_of<This, typename CLIQUE::FactorGraphT
                   ^
/usr/local/include/gtsam/inference/FactorGraph.h:186:28: error: expected unqualified-id before ‘<’ token
     typename std::enable_if<std::is_base_of<This, typename CLIQUE::FactorGraphT
                            ^
/usr/local/include/gtsam/inference/FactorGraph.h:195:19: error: ‘enable_if’ in namespace ‘std’ does not name a template type
     typename std::enable_if<std::is_base_of<FactorType, DERIVEDFACTOR>::value>:
                   ^
/usr/local/include/gtsam/inference/FactorGraph.h:195:28: error: expected unqualified-id before ‘<’ token
     typename std::enable_if<std::is_base_of<FactorType, DERIVEDFACTOR>::value>:
                            ^
/usr/local/include/gtsam/inference/FactorGraph.h:203:19: error: ‘enable_if’ in namespace ‘std’ does not name a template type
     typename std::enable_if<std::is_base_of<FactorType, typename ITERATOR::valu
                   ^
/usr/local/include/gtsam/inference/FactorGraph.h:203:28: error: expected unqualified-id before ‘<’ token
     typename std::enable_if<std::is_base_of<FactorType, typename ITERATOR::valu
                            ^
/usr/local/include/gtsam/inference/FactorGraph.h:211:19: error: ‘enable_if’ in namespace ‘std’ does not name a template type
     typename std::enable_if<std::is_base_of<FactorType, typename CONTAINER::val
                   ^
/usr/local/include/gtsam/inference/FactorGraph.h:211:28: error: expected unqualified-id before ‘<’ token
     typename std::enable_if<std::is_base_of<FactorType, typename CONTAINER::val
                            ^
/usr/local/include/gtsam/inference/FactorGraph.h:218:19: error: ‘enable_if’ in namespace ‘std’ does not name a template type
     typename std::enable_if<std::is_base_of<FactorType, DERIVEDFACTOR>::value,
                   ^
/usr/local/include/gtsam/inference/FactorGraph.h:218:28: error: expected unqualified-id before ‘<’ token
     typename std::enable_if<std::is_base_of<FactorType, DERIVEDFACTOR>::value,
                            ^
/usr/local/include/gtsam/inference/FactorGraph.h:239:19: error: ‘enable_if’ in namespace ‘std’ does not name a template type
     typename std::enable_if<std::is_base_of<FactorType, DERIVEDFACTOR>::value>:
                   ^
/usr/local/include/gtsam/inference/FactorGraph.h:239:28: error: expected unqualified-id before ‘<’ token
     typename std::enable_if<std::is_base_of<FactorType, DERIVEDFACTOR>::value>:
                            ^
In file included from /usr/local/include/gtsam/inference/FactorGraph.h:368:0,
                 from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:26,
                 from SimpleRotation.cpp:40:
/usr/local/include/gtsam/inference/FactorGraph-inst.h: In member function ‘gtsam::KeySet gtsam::FactorGraph<FACTOR>::keys() const’:
/usr/local/include/gtsam/inference/FactorGraph-inst.h:79:14: error: request for member ‘insert’ in ‘keys’, which is of non-class type ‘gtsam::KeySet {aka int}’
         keys.insert(factor->begin(), factor->end());
              ^
/usr/local/include/gtsam/inference/FactorGraph-inst.h: In member function ‘gtsam::KeyVector gtsam::FactorGraph<FACTOR>::keyVector() const’:
/usr/local/include/gtsam/inference/FactorGraph-inst.h:88:10: error: request for member ‘reserve’ in ‘keys’, which is of non-class type ‘gtsam::KeyVector {aka int}’
     keys.reserve(2 * size());  // guess at size
          ^
/usr/local/include/gtsam/inference/FactorGraph-inst.h:91:14: error: request for member ‘insert’ in ‘keys’, which is of non-class type ‘gtsam::KeyVector {aka int}’
         keys.insert(keys.end(), factor->begin(), factor->end());
              ^
/usr/local/include/gtsam/inference/FactorGraph-inst.h:91:26: error: request for member ‘end’ in ‘keys’, which is of non-class type ‘gtsam::KeyVector {aka int}’
         keys.insert(keys.end(), factor->begin(), factor->end());
                          ^
/usr/local/include/gtsam/inference/FactorGraph-inst.h:92:20: error: request for member ‘begin’ in ‘keys’, which is of non-class type ‘gtsam::KeyVector {aka int}’
     std::sort(keys.begin(), keys.end());
                    ^
/usr/local/include/gtsam/inference/FactorGraph-inst.h:92:34: error: request for member ‘end’ in ‘keys’, which is of non-class type ‘gtsam::KeyVector {aka int}’
     std::sort(keys.begin(), keys.end());
                                  ^
/usr/local/include/gtsam/inference/FactorGraph-inst.h:93:10: error: ‘last’ does not name a type
     auto last = std::unique(keys.begin(), keys.end());
          ^
/usr/local/include/gtsam/inference/FactorGraph-inst.h:94:10: error: request for member ‘erase’ in ‘keys’, which is of non-class type ‘gtsam::KeyVector {aka int}’
     keys.erase(last, keys.end());
          ^
/usr/local/include/gtsam/inference/FactorGraph-inst.h:94:16: error: ‘last’ was not declared in this scope
     keys.erase(last, keys.end());
                ^
/usr/local/include/gtsam/inference/FactorGraph-inst.h:94:27: error: request for member ‘end’ in ‘keys’, which is of non-class type ‘gtsam::KeyVector {aka int}’
     keys.erase(last, keys.end());
                           ^
In file included from SimpleRotation.cpp:40:0:
/usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h: At global scope:
/usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:140:54: error: ‘Key’ was not declared in this scope
     Ordering orderingCOLAMDConstrained(const FastMap<Key, int>& constraints) co
                                                      ^
/usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:140:62: error: template argument 1 is invalid
     Ordering orderingCOLAMDConstrained(const FastMap<Key, int>& constraints) co
                                                              ^
/usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:146:18: error: ‘function’ in namespace ‘std’ does not name a template type
     typedef std::function<void(const boost::shared_ptr<HessianFactor>& hessianF
                  ^
/usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:158:15: error: ‘Dampen’ does not name a type
         const Dampen& dampen = nullptr) const;
               ^
/usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:163:33: error: ‘Dampen’ does not name a type
                           const Dampen& dampen = nullptr) const;
                                 ^
/usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:177:47: error: ‘Key’ was not declared in this scope
     NonlinearFactorGraph rekey(const std::map<Key,Key>& rekey_mapping) const;
                                               ^
/usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:177:51: error: ‘Key’ was not declared in this scope
     NonlinearFactorGraph rekey(const std::map<Key,Key>& rekey_mapping) const;
                                                   ^
/usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:177:54: error: template argument 1 is invalid
     NonlinearFactorGraph rekey(const std::map<Key,Key>& rekey_mapping) const;
                                                      ^
/usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:177:54: error: template argument 2 is invalid
/usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:177:54: error: template argument 3 is invalid
/usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:177:54: error: template argument 4 is invalid
/usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:158:32: error: ‘nullptr’ was not declared in this scope
         const Dampen& dampen = nullptr) const;
                                ^
/usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:163:50: error: ‘nullptr’ was not declared in this scope
                           const Dampen& dampen = nullptr) const;
                                                  ^
In file included from /usr/local/include/gtsam/inference/Ordering.h:22:0,
                 from /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:26,
                 from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:25,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/inference/VariableIndex.h:51:19: error: ‘Key’ was not declared in this scope
   typedef FastMap<Key,Factors> KeyMap;
                   ^
/usr/local/include/gtsam/inference/VariableIndex.h:51:30: error: template argument 1 is invalid
   typedef FastMap<Key,Factors> KeyMap;
                              ^
/usr/local/include/gtsam/inference/VariableIndex.h:57:19: error: typedef name may not be a nested-name-specifier
   typedef KeyMap::const_iterator const_iterator;
                   ^
/usr/local/include/gtsam/inference/VariableIndex.h:57:19: error: expected ‘;’ at end of member declaration
/usr/local/include/gtsam/inference/VariableIndex.h:57:34: error: declaration does not declare anything [-fpermissive]
   typedef KeyMap::const_iterator const_iterator;
                                  ^
/usr/local/include/gtsam/inference/VariableIndex.h:58:19: error: typedef name may not be a nested-name-specifier
   typedef KeyMap::const_iterator iterator;
                   ^
/usr/local/include/gtsam/inference/VariableIndex.h:58:19: error: expected ‘;’ at end of member declaration
/usr/local/include/gtsam/inference/VariableIndex.h:58:19: error: redeclaration of ‘typedef<typeprefixerror> gtsam::VariableIndex::const_iterator’
/usr/local/include/gtsam/inference/VariableIndex.h:57:19: note: previous declaration ‘typedef<typeprefixerror> gtsam::VariableIndex::const_iterator’
   typedef KeyMap::const_iterator const_iterator;
                   ^
/usr/local/include/gtsam/inference/VariableIndex.h:58:34: error: ‘iterator’ does not name a type
   typedef KeyMap::const_iterator iterator;
                                  ^
/usr/local/include/gtsam/inference/VariableIndex.h:59:19: error: typedef name may not be a nested-name-specifier
   typedef KeyMap::value_type value_type;
                   ^
/usr/local/include/gtsam/inference/VariableIndex.h:59:19: error: expected ‘;’ at end of member declaration
/usr/local/include/gtsam/inference/VariableIndex.h:59:30: error: declaration does not declare anything [-fpermissive]
   typedef KeyMap::value_type value_type;
                              ^
/usr/local/include/gtsam/inference/VariableIndex.h:93:29: error: declaration of ‘operator[]’ as non-function
   const Factors& operator[](Key variable) const {
                             ^
/usr/local/include/gtsam/inference/VariableIndex.h:93:27: error: expected ‘;’ at end of member declaration
   const Factors& operator[](Key variable) const {
                           ^
/usr/local/include/gtsam/inference/VariableIndex.h:93:33: error: expected ‘)’ before ‘variable’
   const Factors& operator[](Key variable) const {
                                 ^
/usr/local/include/gtsam/inference/VariableIndex.h:154:23: error: ‘Key’ has not been declared
   const_iterator find(Key key) const { return index_.find(key); }
                       ^
/usr/local/include/gtsam/inference/VariableIndex.h:157:32: error: ‘Key’ has not been declared
   Factor_iterator factorsBegin(Key variable) { return internalAt(variable).begi
                                ^
/usr/local/include/gtsam/inference/VariableIndex.h:158:30: error: ‘Key’ has not been declared
   Factor_iterator factorsEnd(Key variable) { return internalAt(variable).end();
                              ^
/usr/local/include/gtsam/inference/VariableIndex.h:160:38: error: ‘Key’ has not been declared
   Factor_const_iterator factorsBegin(Key variable) const { return internalAt(va
                                      ^
/usr/local/include/gtsam/inference/VariableIndex.h:161:36: error: ‘Key’ has not been declared
   Factor_const_iterator factorsEnd(Key variable) const { return internalAt(vari
                                    ^
/usr/local/include/gtsam/inference/VariableIndex.h:164:18: error: expected ‘;’ at end of member declaration
   const Factors& internalAt(Key variable) const {
                  ^
/usr/local/include/gtsam/inference/VariableIndex.h:164:33: error: expected ‘)’ before ‘variable’
   const Factors& internalAt(Key variable) const {
                                 ^
/usr/local/include/gtsam/inference/VariableIndex.h:170:12: error: expected ‘;’ at end of member declaration
   Factors& internalAt(Key variable) {
            ^
/usr/local/include/gtsam/inference/VariableIndex.h:170:23: error: redeclaration of ‘gtsam::VariableIndex::Factors& gtsam::VariableIndex::internalAt’
   Factors& internalAt(Key variable) {
                       ^
/usr/local/include/gtsam/inference/VariableIndex.h:164:29: note: previous declaration ‘const Factors& gtsam::VariableIndex::internalAt’
   const Factors& internalAt(Key variable) const {
                             ^
/usr/local/include/gtsam/inference/VariableIndex.h:170:27: error: expected ‘)’ before ‘variable’
   Factors& internalAt(Key variable) {
                           ^
/usr/local/include/gtsam/inference/VariableIndex.h: In constructor ‘gtsam::VariableIndex::VariableIndex()’:
/usr/local/include/gtsam/inference/VariableIndex.h:67:3: error: uninitialized reference member in ‘const Factors& {aka const class gtsam::FastVector<long unsigned int>&}’ [-fpermissive]
   VariableIndex() : nFactors_(0), nEntries_(0) {}
   ^
/usr/local/include/gtsam/inference/VariableIndex.h:164:29: note: ‘const Factors& gtsam::VariableIndex::internalAt’ should be initialized
   const Factors& internalAt(Key variable) const {
                             ^
/usr/local/include/gtsam/inference/VariableIndex.h: In member function ‘std::size_t gtsam::VariableIndex::size() const’:
/usr/local/include/gtsam/inference/VariableIndex.h:84:39: error: request for member ‘size’ in ‘((const gtsam::VariableIndex*)this)->gtsam::VariableIndex::index_’, which is of non-class type ‘const KeyMap {aka const int}’
   size_t size() const { return index_.size(); }
                                       ^
/usr/local/include/gtsam/inference/VariableIndex.h: In member function ‘gtsam::VariableIndex::Factor_iterator gtsam::VariableIndex::factorsBegin(int)’:
/usr/local/include/gtsam/inference/VariableIndex.h:157:74: error: no match for call to ‘(const Factors {aka const gtsam::FastVector<long unsigned int>}) (int&)’
 tor_iterator factorsBegin(Key variable) { return internalAt(variable).begin(); 
                                                                     ^
/usr/local/include/gtsam/inference/VariableIndex.h: In member function ‘gtsam::VariableIndex::Factor_iterator gtsam::VariableIndex::factorsEnd(int)’:
/usr/local/include/gtsam/inference/VariableIndex.h:158:72: error: no match for call to ‘(const Factors {aka const gtsam::FastVector<long unsigned int>}) (int&)’
 Factor_iterator factorsEnd(Key variable) { return internalAt(variable).end(); }
                                                                      ^
/usr/local/include/gtsam/inference/VariableIndex.h: In member function ‘gtsam::VariableIndex::Factor_const_iterator gtsam::VariableIndex::factorsBegin(int) const’:
/usr/local/include/gtsam/inference/VariableIndex.h:160:86: error: no match for call to ‘(const Factors {aka const gtsam::FastVector<long unsigned int>}) (int&)’
 erator factorsBegin(Key variable) const { return internalAt(variable).begin(); 
                                                                     ^
/usr/local/include/gtsam/inference/VariableIndex.h: In member function ‘gtsam::VariableIndex::Factor_const_iterator gtsam::VariableIndex::factorsEnd(int) const’:
/usr/local/include/gtsam/inference/VariableIndex.h:161:84: error: no match for call to ‘(const Factors {aka const gtsam::FastVector<long unsigned int>}) (int&)’
 _iterator factorsEnd(Key variable) const { return internalAt(variable).end(); }
                                                                      ^
In file included from /usr/local/include/gtsam/inference/VariableIndex.h:185:0,
                 from /usr/local/include/gtsam/inference/Ordering.h:22,
                 from /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:26,
                 from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:25,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/inference/VariableIndex-inl.h: In member function ‘void gtsam::VariableIndex::augment(const FG&, boost::optional<const gtsam::FastVector<long unsigned int>&>)’:
/usr/local/include/gtsam/inference/VariableIndex-inl.h:36:17: error: ‘Key’ does not name a type
       for(const Key key: *factors[i]) {
                 ^
/usr/local/include/gtsam/inference/VariableIndex-inl.h:40:5: error: expected ‘;’ before ‘}’ token
     }
     ^
/usr/local/include/gtsam/inference/VariableIndex-inl.h:40:5: error: expected primary-expression before ‘}’ token
/usr/local/include/gtsam/inference/VariableIndex-inl.h:40:5: error: expected ‘;’ before ‘}’ token
/usr/local/include/gtsam/inference/VariableIndex-inl.h:40:5: error: expected primary-expression before ‘}’ token
/usr/local/include/gtsam/inference/VariableIndex-inl.h:40:5: error: expected ‘)’ before ‘}’ token
/usr/local/include/gtsam/inference/VariableIndex-inl.h:40:5: error: expected primary-expression before ‘}’ token
/usr/local/include/gtsam/inference/VariableIndex-inl.h: In member function ‘void gtsam::VariableIndex::remove(ITERATOR, ITERATOR, const FG&)’:
/usr/local/include/gtsam/inference/VariableIndex-inl.h:69:11: error: ‘Key’ was not declared in this scope
       for(Key j: *factors[i]) {
           ^
In file included from /usr/local/include/gtsam/inference/VariableIndex.h:185:0,
                 from /usr/local/include/gtsam/inference/Ordering.h:22,
                 from /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:26,
                 from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:25,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/inference/VariableIndex-inl.h:79:5: error: expected primary-expression before ‘}’ token
     }
     ^
/usr/local/include/gtsam/inference/VariableIndex-inl.h:79:5: error: expected ‘;’ before ‘}’ token
/usr/local/include/gtsam/inference/VariableIndex-inl.h:79:5: error: expected primary-expression before ‘}’ token
/usr/local/include/gtsam/inference/VariableIndex-inl.h:79:5: error: expected ‘)’ before ‘}’ token
/usr/local/include/gtsam/inference/VariableIndex-inl.h:79:5: error: expected primary-expression before ‘}’ token
/usr/local/include/gtsam/inference/VariableIndex-inl.h: In member function ‘void gtsam::VariableIndex::removeUnusedVariables(ITERATOR, ITERATOR)’:
/usr/local/include/gtsam/inference/VariableIndex-inl.h:87:22: error: qualified-id in declaration before ‘entry’
     KeyMap::iterator entry = index_.find(*key);
                      ^
/usr/local/include/gtsam/inference/VariableIndex-inl.h:88:10: error: ‘entry’ was not declared in this scope
     if (!entry->second.empty())
          ^
/usr/local/include/gtsam/inference/VariableIndex-inl.h:91:12: error: request for member ‘erase’ in ‘((gtsam::VariableIndex*)this)->gtsam::VariableIndex::index_’, which is of non-class type ‘gtsam::VariableIndex::KeyMap {aka int}’
     index_.erase(entry);
            ^
/usr/local/include/gtsam/inference/VariableIndex-inl.h:91:18: error: ‘entry’ was not declared in this scope
     index_.erase(entry);
                  ^
In file included from /usr/local/include/gtsam/inference/Ordering.h:23:0,
                 from /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:26,
                 from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:25,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/inference/MetisIndex.h: At global scope:
/usr/local/include/gtsam/inference/MetisIndex.h:49:24: error: ‘Key’ was not declared in this scope
   typedef boost::bimap<Key, int32_t> bm_type;
                        ^
/usr/local/include/gtsam/inference/MetisIndex.h:49:36: error: template argument 1 is invalid
   typedef boost::bimap<Key, int32_t> bm_type;
                                    ^
/usr/local/include/gtsam/inference/MetisIndex.h:55:16: error: ‘Key’ was not declared in this scope
   boost::bimap<Key, int32_t> intKeyBMap_; // Stores Key <-> integer value relat
                ^
/usr/local/include/gtsam/inference/MetisIndex.h:55:28: error: template argument 1 is invalid
   boost::bimap<Key, int32_t> intKeyBMap_; // Stores Key <-> integer value relat
                            ^
/usr/local/include/gtsam/inference/MetisIndex.h:95:3: error: ‘Key’ does not name a type
   Key intToKey(int32_t value) const {
   ^
In file included from /usr/local/include/gtsam/inference/MetisIndex.h:105:0,
                 from /usr/local/include/gtsam/inference/Ordering.h:23,
                 from /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:26,
                 from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:25,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/inference/MetisIndex-inl.h: In member function ‘void gtsam::MetisIndex::augment(const gtsam::FactorGraph<DERIVEDFACTOR>&)’:
/usr/local/include/gtsam/inference/MetisIndex-inl.h:30:12: error: ‘Key’ was not declared in this scope
   std::set<Key> keySet;
            ^
/usr/local/include/gtsam/inference/MetisIndex-inl.h:30:15: error: template argument 1 is invalid
   std::set<Key> keySet;
               ^
/usr/local/include/gtsam/inference/MetisIndex-inl.h:30:15: error: template argument 2 is invalid
/usr/local/include/gtsam/inference/MetisIndex-inl.h:30:15: error: template argument 3 is invalid
/usr/local/include/gtsam/inference/MetisIndex-inl.h:44:17: error: ‘Key’ does not name a type
       for(const Key& key: *factors[i]) {
                 ^
/usr/local/include/gtsam/inference/MetisIndex-inl.h:51:5: error: expected ‘;’ before ‘}’ token
     }
     ^
/usr/local/include/gtsam/inference/MetisIndex-inl.h:51:5: error: expected primary-expression before ‘}’ token
/usr/local/include/gtsam/inference/MetisIndex-inl.h:51:5: error: expected ‘;’ before ‘}’ token
/usr/local/include/gtsam/inference/MetisIndex-inl.h:51:5: error: expected primary-expression before ‘}’ token
/usr/local/include/gtsam/inference/MetisIndex-inl.h:51:5: error: expected ‘)’ before ‘}’ token
/usr/local/include/gtsam/inference/MetisIndex-inl.h:51:5: error: expected primary-expression before ‘}’ token
/usr/local/include/gtsam/inference/MetisIndex-inl.h:57:17: error: ‘Key’ does not name a type
       for(const Key& k1: *factors[i])
                 ^
/usr/local/include/gtsam/inference/MetisIndex-inl.h:65:5: error: expected ‘;’ before ‘}’ token
     }
     ^
/usr/local/include/gtsam/inference/MetisIndex-inl.h:65:5: error: expected primary-expression before ‘}’ token
/usr/local/include/gtsam/inference/MetisIndex-inl.h:65:5: error: expected ‘;’ before ‘}’ token
/usr/local/include/gtsam/inference/MetisIndex-inl.h:65:5: error: expected primary-expression before ‘}’ token
/usr/local/include/gtsam/inference/MetisIndex-inl.h:65:5: error: expected ‘)’ before ‘}’ token
/usr/local/include/gtsam/inference/MetisIndex-inl.h:65:5: error: expected primary-expression before ‘}’ token
/usr/local/include/gtsam/inference/MetisIndex-inl.h:69:19: error: request for member ‘size’ in ‘keySet’, which is of non-class type ‘int’
   nKeys_ = keySet.size();
                   ^
In file included from /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:26:0,
                 from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:25,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/inference/Ordering.h: At global scope:
/usr/local/include/gtsam/inference/Ordering.h:33:36: error: ‘Key’ was not declared in this scope
 class Ordering: public std::vector<Key> {
                                    ^
/usr/local/include/gtsam/inference/Ordering.h:33:39: error: template argument 1 is invalid
 class Ordering: public std::vector<Key> {
                                       ^
/usr/local/include/gtsam/inference/Ordering.h:33:39: error: template argument 2 is invalid
/usr/local/include/gtsam/inference/Ordering.h:35:23: error: ‘Key’ was not declared in this scope
   typedef std::vector<Key> Base;
                       ^
/usr/local/include/gtsam/inference/Ordering.h:35:26: error: template argument 1 is invalid
   typedef std::vector<Key> Base;
                          ^
/usr/local/include/gtsam/inference/Ordering.h:35:26: error: template argument 2 is invalid
/usr/local/include/gtsam/inference/Ordering.h:67:7: error: ‘Key’ has not been declared
       Key key) {
       ^
/usr/local/include/gtsam/inference/Ordering.h:73:11: error: ‘Key’ was not declared in this scope
   FastMap<Key, size_t> invert() const;
           ^
/usr/local/include/gtsam/inference/Ordering.h:73:22: error: template argument 1 is invalid
   FastMap<Key, size_t> invert() const;
                      ^
/usr/local/include/gtsam/inference/Ordering.h:101:25: error: ‘Key’ was not declared in this scope
       const std::vector<Key>& constrainLast, bool forceOrder = false) {
                         ^
/usr/local/include/gtsam/inference/Ordering.h:101:28: error: template argument 1 is invalid
       const std::vector<Key>& constrainLast, bool forceOrder = false) {
                            ^
/usr/local/include/gtsam/inference/Ordering.h:101:28: error: template argument 2 is invalid
/usr/local/include/gtsam/inference/Ordering.h:115:61: error: ‘Key’ was not declared in this scope
       const VariableIndex& variableIndex, const std::vector<Key>& constrainLast
                                                             ^
/usr/local/include/gtsam/inference/Ordering.h:115:64: error: template argument 1 is invalid
       const VariableIndex& variableIndex, const std::vector<Key>& constrainLast
                                                                ^
/usr/local/include/gtsam/inference/Ordering.h:115:64: error: template argument 2 is invalid
/usr/local/include/gtsam/inference/Ordering.h:128:25: error: ‘Key’ was not declared in this scope
       const std::vector<Key>& constrainFirst, bool forceOrder = false) {
                         ^
/usr/local/include/gtsam/inference/Ordering.h:128:28: error: template argument 1 is invalid
       const std::vector<Key>& constrainFirst, bool forceOrder = false) {
                            ^
/usr/local/include/gtsam/inference/Ordering.h:128:28: error: template argument 2 is invalid
/usr/local/include/gtsam/inference/Ordering.h:144:25: error: ‘Key’ was not declared in this scope
       const std::vector<Key>& constrainFirst, bool forceOrder = false);
                         ^
/usr/local/include/gtsam/inference/Ordering.h:144:28: error: template argument 1 is invalid
       const std::vector<Key>& constrainFirst, bool forceOrder = false);
                            ^
/usr/local/include/gtsam/inference/Ordering.h:144:28: error: template argument 2 is invalid
/usr/local/include/gtsam/inference/Ordering.h:157:21: error: ‘Key’ was not declared in this scope
       const FastMap<Key, int>& groups) {
                     ^
/usr/local/include/gtsam/inference/Ordering.h:157:29: error: template argument 1 is invalid
       const FastMap<Key, int>& groups) {
                             ^
/usr/local/include/gtsam/inference/Ordering.h:172:57: error: ‘Key’ was not declared in this scope
       const VariableIndex& variableIndex, const FastMap<Key, int>& groups);
                                                         ^
/usr/local/include/gtsam/inference/Ordering.h:172:65: error: template argument 1 is invalid
       const VariableIndex& variableIndex, const FastMap<Key, int>& groups);
                                                                 ^
/usr/local/include/gtsam/inference/Ordering.h: In constructor ‘gtsam::Ordering::Ordering(const KEYS&)’:
/usr/local/include/gtsam/inference/Ordering.h:55:7: error: ‘typedef int gtsam::Ordering::Base’ is not a non-static data member of ‘gtsam::Ordering’
       Base(keys.begin(), keys.end()) {
       ^
/usr/local/include/gtsam/inference/Ordering.h: In constructor ‘gtsam::Ordering::Ordering(ITERATOR, ITERATOR)’:
/usr/local/include/gtsam/inference/Ordering.h:61:7: error: ‘typedef int gtsam::Ordering::Base’ is not a non-static data member of ‘gtsam::Ordering’
       Base(firstKey, lastKey) {
       ^
/usr/local/include/gtsam/inference/Ordering.h: In static member function ‘static gtsam::Ordering gtsam::Ordering::Natural(const gtsam::FactorGraph<DERIVEDFACTOR>&)’:
/usr/local/include/gtsam/inference/Ordering.h:178:17: error: ‘Key’ was not declared in this scope
     std::vector<Key> keys(src.begin(), src.end());
                 ^
/usr/local/include/gtsam/inference/Ordering.h:178:20: error: template argument 1 is invalid
     std::vector<Key> keys(src.begin(), src.end());
                    ^
/usr/local/include/gtsam/inference/Ordering.h:178:20: error: template argument 2 is invalid
/usr/local/include/gtsam/inference/Ordering.h:178:31: error: request for member ‘begin’ in ‘src’, which is of non-class type ‘gtsam::KeySet {aka int}’
     std::vector<Key> keys(src.begin(), src.end());
                               ^
/usr/local/include/gtsam/inference/Ordering.h:178:44: error: request for member ‘end’ in ‘src’, which is of non-class type ‘gtsam::KeySet {aka int}’
     std::vector<Key> keys(src.begin(), src.end());
                                            ^
/usr/local/include/gtsam/inference/Ordering.h:178:49: error: expression list treated as compound expression in initializer [-fpermissive]
     std::vector<Key> keys(src.begin(), src.end());
                                                 ^
/usr/local/include/gtsam/inference/Ordering.h:179:27: error: request for member ‘begin’ in ‘keys’, which is of non-class type ‘int’
     std::stable_sort(keys.begin(), keys.end());
                           ^
/usr/local/include/gtsam/inference/Ordering.h:179:41: error: request for member ‘end’ in ‘keys’, which is of non-class type ‘int’
     std::stable_sort(keys.begin(), keys.end());
                                         ^
In file included from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:25:0,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/inference/EliminateableFactorGraph.h: At global scope:
/usr/local/include/gtsam/inference/EliminateableFactorGraph.h:173:25: error: ‘Key’ was not declared in this scope
       const std::vector<Key>& variables,
                         ^
/usr/local/include/gtsam/inference/EliminateableFactorGraph.h:173:28: error: template argument 1 is invalid
       const std::vector<Key>& variables,
                            ^
/usr/local/include/gtsam/inference/EliminateableFactorGraph.h:173:28: error: template argument 2 is invalid
/usr/local/include/gtsam/inference/EliminateableFactorGraph.h:193:25: error: ‘Key’ was not declared in this scope
       const std::vector<Key>& variables,
                         ^
/usr/local/include/gtsam/inference/EliminateableFactorGraph.h:193:28: error: template argument 1 is invalid
       const std::vector<Key>& variables,
                            ^
/usr/local/include/gtsam/inference/EliminateableFactorGraph.h:193:28: error: template argument 2 is invalid
/usr/local/include/gtsam/inference/EliminateableFactorGraph.h:209:57: error: ‘Key’ was not declared in this scope
       boost::variant<const Ordering&, const std::vector<Key>&> variables,
                                                         ^
/usr/local/include/gtsam/inference/EliminateableFactorGraph.h:209:60: error: template argument 1 is invalid
       boost::variant<const Ordering&, const std::vector<Key>&> variables,
                                                            ^
/usr/local/include/gtsam/inference/EliminateableFactorGraph.h:209:60: error: template argument 2 is invalid
/usr/local/include/gtsam/inference/EliminateableFactorGraph.h:209:62: error: template argument 2 is invalid
       boost::variant<const Ordering&, const std::vector<Key>&> variables,
                                                              ^
/usr/local/include/gtsam/inference/EliminateableFactorGraph.h:209:62: error: template argument 2 is invalid
/usr/local/include/gtsam/inference/EliminateableFactorGraph.h:209:14: error: ‘boost::variant’ is not a type
       boost::variant<const Ordering&, const std::vector<Key>&> variables,
              ^
/usr/local/include/gtsam/inference/EliminateableFactorGraph.h:209:21: error: expected ‘,’ or ‘...’ before ‘<’ token
       boost::variant<const Ordering&, const std::vector<Key>&> variables,
                     ^
/usr/local/include/gtsam/inference/EliminateableFactorGraph.h:226:57: error: ‘Key’ was not declared in this scope
       boost::variant<const Ordering&, const std::vector<Key>&> variables,
                                                         ^
/usr/local/include/gtsam/inference/EliminateableFactorGraph.h:226:60: error: template argument 1 is invalid
       boost::variant<const Ordering&, const std::vector<Key>&> variables,
                                                            ^
/usr/local/include/gtsam/inference/EliminateableFactorGraph.h:226:60: error: template argument 2 is invalid
/usr/local/include/gtsam/inference/EliminateableFactorGraph.h:226:62: error: template argument 2 is invalid
       boost::variant<const Ordering&, const std::vector<Key>&> variables,
                                                              ^
/usr/local/include/gtsam/inference/EliminateableFactorGraph.h:226:62: error: template argument 2 is invalid
/usr/local/include/gtsam/inference/EliminateableFactorGraph.h:226:14: error: ‘boost::variant’ is not a type
       boost::variant<const Ordering&, const std::vector<Key>&> variables,
              ^
/usr/local/include/gtsam/inference/EliminateableFactorGraph.h:226:21: error: expected ‘,’ or ‘...’ before ‘<’ token
       boost::variant<const Ordering&, const std::vector<Key>&> variables,
                     ^
/usr/local/include/gtsam/inference/EliminateableFactorGraph.h:233:25: error: ‘Key’ was not declared in this scope
       const std::vector<Key>& variables,
                         ^
/usr/local/include/gtsam/inference/EliminateableFactorGraph.h:233:28: error: template argument 1 is invalid
       const std::vector<Key>& variables,
                            ^
/usr/local/include/gtsam/inference/EliminateableFactorGraph.h:233:28: error: template argument 2 is invalid
In file included from /usr/local/include/gtsam/linear/HessianFactor.h:22:0,
                 from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/linear/Scatter.h:35:3: error: ‘Key’ does not name a type
   Key key;
   ^
/usr/local/include/gtsam/linear/Scatter.h:37:17: error: expected ‘)’ before ‘_key’
   SlotEntry(Key _key, size_t _dimension) : key(_key), dimension(_dimension) {}
                 ^
/usr/local/include/gtsam/linear/Scatter.h: In function ‘bool gtsam::operator<(const gtsam::SlotEntry&, const gtsam::SlotEntry&)’:
/usr/local/include/gtsam/linear/Scatter.h:40:14: error: ‘const struct gtsam::SlotEntry’ has no member named ‘key’
     return p.key < q.key;
              ^
/usr/local/include/gtsam/linear/Scatter.h:40:22: error: ‘const struct gtsam::SlotEntry’ has no member named ‘key’
     return p.key < q.key;
                      ^
/usr/local/include/gtsam/linear/Scatter.h: At global scope:
/usr/local/include/gtsam/linear/Scatter.h:61:12: error: ‘Key’ has not been declared
   void add(Key key, size_t dim);
            ^
/usr/local/include/gtsam/linear/Scatter.h:66:17: error: ‘Key’ has not been declared
   iterator find(Key key);
                 ^
In file included from /usr/local/include/gtsam/linear/HessianFactor.h:23:0,
                 from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h:359:10: error: ‘array’ in namespace ‘std’ does not name a template type
     std::array<DenseIndex, 4> calcIndices(DenseIndex iBlock, DenseIndex jBlock,
          ^
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h: In member function ‘gtsam::DenseIndex gtsam::SymmetricBlockMatrix::getDim(gtsam::DenseIndex) const’:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h:129:44: error: ‘calcIndices’ was not declared in this scope
       return calcIndices(block, block, 1, 1)[2];
                                            ^
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h: In member function ‘void gtsam::SymmetricBlockMatrix::updateDiagonalBlock(gtsam::DenseIndex, const XprType&)’:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h:220:12: error: ‘dest’ does not name a type
       auto dest = block_(I, I);
            ^
In file included from /usr/include/c++/5/cassert:43:0,
                 from /usr/local/include/gtsam/base/SymmetricBlockMatrix.h:25,
                 from /usr/local/include/gtsam/linear/HessianFactor.h:23,
                 from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h:221:7: error: ‘dest’ was not declared in this scope
       assert(dest.rows() == xpr.rows());
       ^
In file included from /usr/local/include/gtsam/linear/HessianFactor.h:23:0,
                 from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h: In member function ‘void gtsam::SymmetricBlockMatrix::invertInPlace()’:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h:274:18: error: ‘identity’ does not name a type
       const auto identity = Matrix::Identity(rows(), rows());
                  ^
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h:278:22: error: ‘identity’ was not declared in this scope
               .solve(identity)
                      ^
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h:278:22: note: suggested alternatives:
In file included from /usr/include/boost/type_traits/decay.hpp:19:0,
                 from /usr/include/boost/optional/optional.hpp:36,
                 from /usr/include/boost/optional.hpp:15,
                 from /usr/local/include/gtsam/base/OptionalJacobian.h:25,
                 from /usr/local/include/gtsam/base/Matrix.h:25,
                 from /usr/local/include/gtsam/base/Manifold.h:22,
                 from /usr/local/include/gtsam/base/Lie.h:25,
                 from /usr/local/include/gtsam/base/VectorSpace.h:11,
                 from /usr/local/include/gtsam/geometry/Point2.h:20,
                 from /usr/local/include/gtsam/geometry/Rot2.h:21,
                 from SimpleRotation.cpp:26:
/usr/include/boost/mpl/identity.hpp:25:8: note:   ‘boost::mpl::identity’
 struct identity
        ^
In file included from /usr/include/boost/move/detail/meta_utils.hpp:24:0,
                 from /usr/include/boost/move/detail/type_traits.hpp:31,
                 from /usr/include/boost/move/core.hpp:54,
                 from /usr/include/boost/move/utility_core.hpp:29,
                 from /usr/include/boost/move/utility.hpp:28,
                 from /usr/include/boost/optional/optional.hpp:48,
                 from /usr/include/boost/optional.hpp:15,
                 from /usr/local/include/gtsam/base/OptionalJacobian.h:25,
                 from /usr/local/include/gtsam/base/Matrix.h:25,
                 from /usr/local/include/gtsam/base/Manifold.h:22,
                 from /usr/local/include/gtsam/base/Lie.h:25,
                 from /usr/local/include/gtsam/base/VectorSpace.h:11,
                 from /usr/local/include/gtsam/geometry/Point2.h:20,
                 from /usr/local/include/gtsam/geometry/Rot2.h:21,
                 from SimpleRotation.cpp:26:
/usr/include/boost/move/detail/meta_utils_core.hpp:95:8: note:   ‘boost::move_detail::identity’
 struct identity
        ^
In file included from /usr/include/boost/multi_index/identity.hpp:18:0,
                 from /usr/include/boost/multi_index_container_fwd.hpp:17,
                 from /usr/include/boost/multi_index_container.hpp:31,
                 from /usr/include/boost/bimap/detail/bimap_core.hpp:34,
                 from /usr/include/boost/bimap/bimap.hpp:61,
                 from /usr/include/boost/bimap.hpp:13,
                 from /usr/local/include/gtsam/inference/MetisIndex.h:31,
                 from /usr/local/include/gtsam/inference/Ordering.h:23,
                 from /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:26,
                 from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:25,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
                 from SimpleRotation.cpp:53:
/usr/include/boost/multi_index/identity_fwd.hpp:20:29: note:   ‘boost::multi_index::identity’
 template<class Type> struct identity;
                             ^
In file included from /usr/local/include/gtsam/linear/HessianFactor.h:23:0,
                 from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h:279:45: error: expected primary-expression before ‘)’ token
               .triangularView<Eigen::Upper>();
                                             ^
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h: In member function ‘gtsam::SymmetricBlockMatrix::constBlock gtsam::SymmetricBlockMatrix::block_(gtsam::DenseIndex, gtsam::DenseIndex, gtsam::DenseIndex, gtsam::DenseIndex) const’:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h:335:18: error: ‘array’ in namespace ‘std’ does not name a template type
       const std::array<DenseIndex, 4> indices =
                  ^
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h:337:28: error: ‘indices’ was not declared in this scope
       return matrix_.block(indices[0], indices[1], indices[2], indices[3]);
                            ^
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h: In member function ‘gtsam::SymmetricBlockMatrix::Block gtsam::SymmetricBlockMatrix::block_(gtsam::DenseIndex, gtsam::DenseIndex, gtsam::DenseIndex, gtsam::DenseIndex)’:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h:343:18: error: ‘array’ in namespace ‘std’ does not name a template type
       const std::array<DenseIndex, 4> indices =
                  ^
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h:345:28: error: ‘indices’ was not declared in this scope
       return matrix_.block(indices[0], indices[1], indices[2], indices[3]);
                            ^
In file included from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28:0,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/linear/HessianFactor.h: At global scope:
/usr/local/include/gtsam/linear/HessianFactor.h:123:23: error: expected ‘)’ before ‘j’
     HessianFactor(Key j, const Matrix& G, const Vector& g, double f);
                       ^
/usr/local/include/gtsam/linear/HessianFactor.h:128:23: error: expected ‘)’ before ‘j’
     HessianFactor(Key j, const Vector& mu, const Matrix& Sigma);
                       ^
/usr/local/include/gtsam/linear/HessianFactor.h:145:23: error: expected ‘)’ before ‘j1’
     HessianFactor(Key j1, Key j2,
                       ^
/usr/local/include/gtsam/linear/HessianFactor.h:153:23: error: expected ‘)’ before ‘j1’
     HessianFactor(Key j1, Key j2, Key j3,
                       ^
/usr/local/include/gtsam/linear/HessianFactor.h:162:37: error: ‘Key’ was not declared in this scope
     HessianFactor(const std::vector<Key>& js, const std::vector<Matrix>& Gs,
                                     ^
/usr/local/include/gtsam/linear/HessianFactor.h:162:40: error: template argument 1 is invalid
     HessianFactor(const std::vector<Key>& js, const std::vector<Matrix>& Gs,
                                        ^
/usr/local/include/gtsam/linear/HessianFactor.h:162:40: error: template argument 2 is invalid
/usr/local/include/gtsam/linear/HessianFactor.h:296:22: error: ‘Key’ was not declared in this scope
     virtual std::map<Key,Matrix> hessianBlockDiagonal() const;
                      ^
/usr/local/include/gtsam/linear/HessianFactor.h:296:32: error: template argument 1 is invalid
     virtual std::map<Key,Matrix> hessianBlockDiagonal() const;
                                ^
/usr/local/include/gtsam/linear/HessianFactor.h:296:32: error: template argument 3 is invalid
/usr/local/include/gtsam/linear/HessianFactor.h:296:32: error: template argument 4 is invalid
/usr/local/include/gtsam/linear/HessianFactor.h:313:41: error: ‘Key’ was not declared in this scope
     void updateHessian(const FastVector<Key>& keys, SymmetricBlockMatrix* info)
                                         ^
/usr/local/include/gtsam/linear/HessianFactor.h:313:44: error: template argument 1 is invalid
     void updateHessian(const FastVector<Key>& keys, SymmetricBlockMatrix* info)
                                            ^
/usr/local/include/gtsam/linear/HessianFactor.h:336:21: error: ‘Key’ has not been declared
     Vector gradient(Key key, const VectorValues& x) const;
                     ^
/usr/local/include/gtsam/linear/HessianFactor.h: In member function ‘virtual gtsam::DenseIndex gtsam::HessianFactor::getDim(gtsam::Factor::const_iterator) const’:
/usr/local/include/gtsam/linear/HessianFactor.h:204:58: error: no matching function for call to ‘distance(gtsam::Factor::const_iterator, gtsam::Factor::const_iterator&)’
       return info_.getDim(std::distance(begin(), variable));
                                                          ^
In file included from /usr/include/c++/5/bits/stl_algobase.h:66:0,
                 from /usr/include/c++/5/bits/char_traits.h:39,
                 from /usr/include/c++/5/ios:40,
                 from /usr/include/c++/5/istream:38,
                 from /usr/include/c++/5/sstream:38,
                 from /usr/include/c++/5/complex:45,
                 from /usr/include/eigen3/Eigen/Core:70,
                 from /usr/include/eigen3/Eigen/Dense:1,
                 from /usr/local/include/gtsam/base/OptionalJacobian.h:22,
                 from /usr/local/include/gtsam/base/Matrix.h:25,
                 from /usr/local/include/gtsam/base/Manifold.h:22,
                 from /usr/local/include/gtsam/base/Lie.h:25,
                 from /usr/local/include/gtsam/base/VectorSpace.h:11,
                 from /usr/local/include/gtsam/geometry/Point2.h:20,
                 from /usr/local/include/gtsam/geometry/Rot2.h:21,
                 from SimpleRotation.cpp:26:
/usr/include/c++/5/bits/stl_iterator_base_funcs.h:114:5: note: candidate: template<class _InputIterator> typename std::iterator_traits<_Iterator>::difference_type std::distance(_InputIterator, _InputIterator)
     distance(_InputIterator __first, _InputIterator __last)
     ^
/usr/include/c++/5/bits/stl_iterator_base_funcs.h:114:5: note:   template argument deduction/substitution failed:
In file included from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28:0,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/linear/HessianFactor.h: In member function ‘double gtsam::HessianFactor::constantTerm() const’:
/usr/local/include/gtsam/linear/HessianFactor.h:224:18: error: ‘view’ does not name a type
       const auto view = info_.diagonalBlock(size());
                  ^
/usr/local/include/gtsam/linear/HessianFactor.h:225:23: error: ‘view’ was not declared in this scope
       return view(0, 0);
                       ^
In file included from /usr/local/include/gtsam/linear/HessianFactor.h:419:0,
                 from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/linear/HessianFactor-inl.h: In constructor ‘gtsam::HessianFactor::HessianFactor(const KEYS&, const gtsam::SymmetricBlockMatrix&)’:
/usr/local/include/gtsam/linear/HessianFactor-inl.h:29:32: error: request for member ‘size’ in ‘gtsam::HessianFactor::Base:: keys_’, which is of non-class type ‘int’
     if((DenseIndex)Base::keys_.size() != augmentedInformation.nBlocks() - 1)
                                ^
In file included from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24:0,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/linear/GaussianFactorGraph.h: At global scope:
/usr/local/include/gtsam/linear/GaussianFactorGraph.h:112:14: error: ‘Key’ has not been declared
     void add(Key key1, const Matrix& A1,
              ^
/usr/local/include/gtsam/linear/GaussianFactorGraph.h:117:14: error: ‘Key’ has not been declared
     void add(Key key1, const Matrix& A1,
              ^
/usr/local/include/gtsam/linear/GaussianFactorGraph.h:118:9: error: ‘Key’ has not been declared
         Key key2, const Matrix& A2,
         ^
/usr/local/include/gtsam/linear/GaussianFactorGraph.h:123:14: error: ‘Key’ has not been declared
     void add(Key key1, const Matrix& A1,
              ^
/usr/local/include/gtsam/linear/GaussianFactorGraph.h:124:9: error: ‘Key’ has not been declared
         Key key2, const Matrix& A2,
         ^
/usr/local/include/gtsam/linear/GaussianFactorGraph.h:125:9: error: ‘Key’ has not been declared
         Key key3, const Matrix& A3,
         ^
/usr/local/include/gtsam/linear/GaussianFactorGraph.h:142:14: error: ‘Key’ was not declared in this scope
     std::map<Key, size_t> getKeyDimMap() const;
              ^
/usr/local/include/gtsam/linear/GaussianFactorGraph.h:142:25: error: template argument 1 is invalid
     std::map<Key, size_t> getKeyDimMap() const;
                         ^
/usr/local/include/gtsam/linear/GaussianFactorGraph.h:142:25: error: template argument 3 is invalid
/usr/local/include/gtsam/linear/GaussianFactorGraph.h:142:25: error: template argument 4 is invalid
/usr/local/include/gtsam/linear/GaussianFactorGraph.h:240:22: error: ‘Key’ was not declared in this scope
     virtual std::map<Key,Matrix> hessianBlockDiagonal() const;
                      ^
/usr/local/include/gtsam/linear/GaussianFactorGraph.h:240:32: error: template argument 1 is invalid
     virtual std::map<Key,Matrix> hessianBlockDiagonal() const;
                                ^
/usr/local/include/gtsam/linear/GaussianFactorGraph.h:240:32: error: template argument 3 is invalid
/usr/local/include/gtsam/linear/GaussianFactorGraph.h:240:32: error: template argument 4 is invalid
/usr/local/include/gtsam/linear/GaussianFactorGraph.h: In member function ‘void gtsam::GaussianFactorGraph::add(int, const Matrix&, const Vector&, const SharedDiagonal&)’:
/usr/local/include/gtsam/linear/GaussianFactorGraph.h:114:41: error: no matching function for call to ‘gtsam::JacobianFactor::JacobianFactor(int&, const Matrix&, const Vector&, const SharedDiagonal&)’
       add(JacobianFactor(key1,A1,b,model)); }
                                         ^
In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25:0,
                 from /usr/local/include/gtsam/slam/PriorFactor.h:18,
                 from SimpleRotation.cpp:36:
/usr/local/include/gtsam/linear/JacobianFactor.h:366:5: note: candidate: template<class KEYS, class DIMENSIONS> gtsam::JacobianFactor::JacobianFactor(const KEYS&, const DIMENSIONS&, gtsam::DenseIndex, const SharedDiagonal&)
     JacobianFactor(const KEYS& keys, const DIMENSIONS& dims, DenseIndex m,
     ^
/usr/local/include/gtsam/linear/JacobianFactor.h:366:5: note:   template argument deduction/substitution failed:
In file included from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24:0,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/linear/GaussianFactorGraph.h:114:41: note:   cannot convert ‘b’ (type ‘const Vector {aka const Eigen::Matrix<double, -1, 1>}’) to type ‘gtsam::DenseIndex {aka long int}’
       add(JacobianFactor(key1,A1,b,model)); }
                                         ^
In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25:0,
                 from /usr/local/include/gtsam/slam/PriorFactor.h:18,
                 from SimpleRotation.cpp:36:
/usr/local/include/gtsam/linear/JacobianFactor.h:154:14: note: candidate: gtsam::JacobianFactor::JacobianFactor(const gtsam::GaussianFactorGraph&, boost::optional<const gtsam::Ordering&>, boost::optional<const gtsam::VariableSlots&>)
     explicit JacobianFactor(
              ^
/usr/local/include/gtsam/linear/JacobianFactor.h:154:14: note:   candidate expects 3 arguments, 4 provided
/usr/local/include/gtsam/linear/JacobianFactor.h:147:5: note: candidate: template<class KEYS> gtsam::JacobianFactor::JacobianFactor(const KEYS&, const gtsam::VerticalBlockMatrix&, const SharedDiagonal&)
     JacobianFactor(
     ^
/usr/local/include/gtsam/linear/JacobianFactor.h:147:5: note:   template argument deduction/substitution failed:
In file included from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24:0,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/linear/GaussianFactorGraph.h:114:41: note:   cannot convert ‘A1’ (type ‘const Matrix {aka const Eigen::Matrix<double, -1, -1>}’) to type ‘const gtsam::VerticalBlockMatrix&’
       add(JacobianFactor(key1,A1,b,model)); }
                                         ^
In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25:0,
                 from /usr/local/include/gtsam/slam/PriorFactor.h:18,
                 from SimpleRotation.cpp:36:
/usr/local/include/gtsam/linear/JacobianFactor.h:140:5: note: candidate: template<class TERMS> gtsam::JacobianFactor::JacobianFactor(const TERMS&, const Vector&, const SharedDiagonal&)
     JacobianFactor(const TERMS& terms, const Vector& b, const SharedDiagonal& m
     ^
/usr/local/include/gtsam/linear/JacobianFactor.h:140:5: note:   template argument deduction/substitution failed:
In file included from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24:0,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/linear/GaussianFactorGraph.h:114:41: note:   cannot convert ‘b’ (type ‘const Vector {aka const Eigen::Matrix<double, -1, 1>}’) to type ‘const SharedDiagonal& {aka const boost::shared_ptr<gtsam::noiseModel::Diagonal>&}’
       add(JacobianFactor(key1,A1,b,model)); }
                                         ^
In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25:0,
                 from /usr/local/include/gtsam/slam/PriorFactor.h:18,
                 from SimpleRotation.cpp:36:
/usr/local/include/gtsam/linear/JacobianFactor.h:120:14: note: candidate: gtsam::JacobianFactor::JacobianFactor(const Vector&)
     explicit JacobianFactor(const Vector& b_in);
              ^
/usr/local/include/gtsam/linear/JacobianFactor.h:120:14: note:   candidate expects 1 argument, 4 provided
/usr/local/include/gtsam/linear/JacobianFactor.h:117:5: note: candidate: gtsam::JacobianFactor::JacobianFactor()
     JacobianFactor();
     ^
/usr/local/include/gtsam/linear/JacobianFactor.h:117:5: note:   candidate expects 0 arguments, 4 provided
/usr/local/include/gtsam/linear/JacobianFactor.h:114:14: note: candidate: gtsam::JacobianFactor::JacobianFactor(const gtsam::HessianFactor&)
     explicit JacobianFactor(const HessianFactor& hf);
              ^
/usr/local/include/gtsam/linear/JacobianFactor.h:114:14: note:   candidate expects 1 argument, 4 provided
/usr/local/include/gtsam/linear/JacobianFactor.h:111:5: note: candidate: gtsam::JacobianFactor::JacobianFactor(const gtsam::JacobianFactor&)
     JacobianFactor(const JacobianFactor& jf) : Base(jf), Ab_(jf.Ab_), model_(jf
     ^
/usr/local/include/gtsam/linear/JacobianFactor.h:111:5: note:   candidate expects 1 argument, 4 provided
/usr/local/include/gtsam/linear/JacobianFactor.h:108:14: note: candidate: gtsam::JacobianFactor::JacobianFactor(const gtsam::GaussianFactor&)
     explicit JacobianFactor(const GaussianFactor& gf);
              ^
/usr/local/include/gtsam/linear/JacobianFactor.h:108:14: note:   candidate expects 1 argument, 4 provided
In file included from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24:0,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/linear/GaussianFactorGraph.h: In member function ‘void gtsam::GaussianFactorGraph::add(int, const Matrix&, int, const Matrix&, const Vector&, const SharedDiagonal&)’:
/usr/local/include/gtsam/linear/GaussianFactorGraph.h:120:49: error: no matching function for call to ‘gtsam::JacobianFactor::JacobianFactor(int&, const Matrix&, int&, const Matrix&, const Vector&, const SharedDiagonal&)’
       add(JacobianFactor(key1,A1,key2,A2,b,model)); }
                                                 ^
In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25:0,
                 from /usr/local/include/gtsam/slam/PriorFactor.h:18,
                 from SimpleRotation.cpp:36:
/usr/local/include/gtsam/linear/JacobianFactor.h:366:5: note: candidate: template<class KEYS, class DIMENSIONS> gtsam::JacobianFactor::JacobianFactor(const KEYS&, const DIMENSIONS&, gtsam::DenseIndex, const SharedDiagonal&)
     JacobianFactor(const KEYS& keys, const DIMENSIONS& dims, DenseIndex m,
     ^
/usr/local/include/gtsam/linear/JacobianFactor.h:366:5: note:   template argument deduction/substitution failed:
In file included from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24:0,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/linear/GaussianFactorGraph.h:120:49: note:   cannot convert ‘A2’ (type ‘const Matrix {aka const Eigen::Matrix<double, -1, -1>}’) to type ‘const SharedDiagonal& {aka const boost::shared_ptr<gtsam::noiseModel::Diagonal>&}’
       add(JacobianFactor(key1,A1,key2,A2,b,model)); }
                                                 ^
In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25:0,
                 from /usr/local/include/gtsam/slam/PriorFactor.h:18,
                 from SimpleRotation.cpp:36:
/usr/local/include/gtsam/linear/JacobianFactor.h:154:14: note: candidate: gtsam::JacobianFactor::JacobianFactor(const gtsam::GaussianFactorGraph&, boost::optional<const gtsam::Ordering&>, boost::optional<const gtsam::VariableSlots&>)
     explicit JacobianFactor(
              ^
/usr/local/include/gtsam/linear/JacobianFactor.h:154:14: note:   candidate expects 3 arguments, 6 provided
/usr/local/include/gtsam/linear/JacobianFactor.h:147:5: note: candidate: template<class KEYS> gtsam::JacobianFactor::JacobianFactor(const KEYS&, const gtsam::VerticalBlockMatrix&, const SharedDiagonal&)
     JacobianFactor(
     ^
/usr/local/include/gtsam/linear/JacobianFactor.h:147:5: note:   template argument deduction/substitution failed:
In file included from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24:0,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/linear/GaussianFactorGraph.h:120:49: note:   cannot convert ‘A1’ (type ‘const Matrix {aka const Eigen::Matrix<double, -1, -1>}’) to type ‘const gtsam::VerticalBlockMatrix&’
       add(JacobianFactor(key1,A1,key2,A2,b,model)); }
                                                 ^
In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25:0,
                 from /usr/local/include/gtsam/slam/PriorFactor.h:18,
                 from SimpleRotation.cpp:36:
/usr/local/include/gtsam/linear/JacobianFactor.h:140:5: note: candidate: template<class TERMS> gtsam::JacobianFactor::JacobianFactor(const TERMS&, const Vector&, const SharedDiagonal&)
     JacobianFactor(const TERMS& terms, const Vector& b, const SharedDiagonal& m
     ^
/usr/local/include/gtsam/linear/JacobianFactor.h:140:5: note:   template argument deduction/substitution failed:
In file included from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24:0,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/linear/GaussianFactorGraph.h:120:49: note:   cannot convert ‘key2’ (type ‘int’) to type ‘const SharedDiagonal& {aka const boost::shared_ptr<gtsam::noiseModel::Diagonal>&}’
       add(JacobianFactor(key1,A1,key2,A2,b,model)); }
                                                 ^
In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25:0,
                 from /usr/local/include/gtsam/slam/PriorFactor.h:18,
                 from SimpleRotation.cpp:36:
/usr/local/include/gtsam/linear/JacobianFactor.h:120:14: note: candidate: gtsam::JacobianFactor::JacobianFactor(const Vector&)
     explicit JacobianFactor(const Vector& b_in);
              ^
/usr/local/include/gtsam/linear/JacobianFactor.h:120:14: note:   candidate expects 1 argument, 6 provided
/usr/local/include/gtsam/linear/JacobianFactor.h:117:5: note: candidate: gtsam::JacobianFactor::JacobianFactor()
     JacobianFactor();
     ^
/usr/local/include/gtsam/linear/JacobianFactor.h:117:5: note:   candidate expects 0 arguments, 6 provided
/usr/local/include/gtsam/linear/JacobianFactor.h:114:14: note: candidate: gtsam::JacobianFactor::JacobianFactor(const gtsam::HessianFactor&)
     explicit JacobianFactor(const HessianFactor& hf);
              ^
/usr/local/include/gtsam/linear/JacobianFactor.h:114:14: note:   candidate expects 1 argument, 6 provided
/usr/local/include/gtsam/linear/JacobianFactor.h:111:5: note: candidate: gtsam::JacobianFactor::JacobianFactor(const gtsam::JacobianFactor&)
     JacobianFactor(const JacobianFactor& jf) : Base(jf), Ab_(jf.Ab_), model_(jf
     ^
/usr/local/include/gtsam/linear/JacobianFactor.h:111:5: note:   candidate expects 1 argument, 6 provided
/usr/local/include/gtsam/linear/JacobianFactor.h:108:14: note: candidate: gtsam::JacobianFactor::JacobianFactor(const gtsam::GaussianFactor&)
     explicit JacobianFactor(const GaussianFactor& gf);
              ^
/usr/local/include/gtsam/linear/JacobianFactor.h:108:14: note:   candidate expects 1 argument, 6 provided
In file included from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24:0,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/linear/GaussianFactorGraph.h: In member function ‘void gtsam::GaussianFactorGraph::add(int, const Matrix&, int, const Matrix&, int, const Matrix&, const Vector&, const SharedDiagonal&)’:
/usr/local/include/gtsam/linear/GaussianFactorGraph.h:127:57: error: no matching function for call to ‘gtsam::JacobianFactor::JacobianFactor(int&, const Matrix&, int&, const Matrix&, int&, const Matrix&, const Vector&, const SharedDiagonal&)’
       add(JacobianFactor(key1,A1,key2,A2,key3,A3,b,model)); }
                                                         ^
In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25:0,
                 from /usr/local/include/gtsam/slam/PriorFactor.h:18,
                 from SimpleRotation.cpp:36:
/usr/local/include/gtsam/linear/JacobianFactor.h:366:5: note: candidate: template<class KEYS, class DIMENSIONS> gtsam::JacobianFactor::JacobianFactor(const KEYS&, const DIMENSIONS&, gtsam::DenseIndex, const SharedDiagonal&)
     JacobianFactor(const KEYS& keys, const DIMENSIONS& dims, DenseIndex m,
     ^
/usr/local/include/gtsam/linear/JacobianFactor.h:366:5: note:   template argument deduction/substitution failed:
In file included from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24:0,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/linear/GaussianFactorGraph.h:127:57: note:   cannot convert ‘A2’ (type ‘const Matrix {aka const Eigen::Matrix<double, -1, -1>}’) to type ‘const SharedDiagonal& {aka const boost::shared_ptr<gtsam::noiseModel::Diagonal>&}’
       add(JacobianFactor(key1,A1,key2,A2,key3,A3,b,model)); }
                                                         ^
In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25:0,
                 from /usr/local/include/gtsam/slam/PriorFactor.h:18,
                 from SimpleRotation.cpp:36:
/usr/local/include/gtsam/linear/JacobianFactor.h:154:14: note: candidate: gtsam::JacobianFactor::JacobianFactor(const gtsam::GaussianFactorGraph&, boost::optional<const gtsam::Ordering&>, boost::optional<const gtsam::VariableSlots&>)
     explicit JacobianFactor(
              ^
/usr/local/include/gtsam/linear/JacobianFactor.h:154:14: note:   candidate expects 3 arguments, 8 provided
/usr/local/include/gtsam/linear/JacobianFactor.h:147:5: note: candidate: template<class KEYS> gtsam::JacobianFactor::JacobianFactor(const KEYS&, const gtsam::VerticalBlockMatrix&, const SharedDiagonal&)
     JacobianFactor(
     ^
/usr/local/include/gtsam/linear/JacobianFactor.h:147:5: note:   template argument deduction/substitution failed:
In file included from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24:0,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/linear/GaussianFactorGraph.h:127:57: note:   cannot convert ‘A1’ (type ‘const Matrix {aka const Eigen::Matrix<double, -1, -1>}’) to type ‘const gtsam::VerticalBlockMatrix&’
       add(JacobianFactor(key1,A1,key2,A2,key3,A3,b,model)); }
                                                         ^
In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25:0,
                 from /usr/local/include/gtsam/slam/PriorFactor.h:18,
                 from SimpleRotation.cpp:36:
/usr/local/include/gtsam/linear/JacobianFactor.h:140:5: note: candidate: template<class TERMS> gtsam::JacobianFactor::JacobianFactor(const TERMS&, const Vector&, const SharedDiagonal&)
     JacobianFactor(const TERMS& terms, const Vector& b, const SharedDiagonal& m
     ^
/usr/local/include/gtsam/linear/JacobianFactor.h:140:5: note:   template argument deduction/substitution failed:
In file included from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24:0,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/linear/GaussianFactorGraph.h:127:57: note:   cannot convert ‘key2’ (type ‘int’) to type ‘const SharedDiagonal& {aka const boost::shared_ptr<gtsam::noiseModel::Diagonal>&}’
       add(JacobianFactor(key1,A1,key2,A2,key3,A3,b,model)); }
                                                         ^
In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25:0,
                 from /usr/local/include/gtsam/slam/PriorFactor.h:18,
                 from SimpleRotation.cpp:36:
/usr/local/include/gtsam/linear/JacobianFactor.h:120:14: note: candidate: gtsam::JacobianFactor::JacobianFactor(const Vector&)
     explicit JacobianFactor(const Vector& b_in);
              ^
/usr/local/include/gtsam/linear/JacobianFactor.h:120:14: note:   candidate expects 1 argument, 8 provided
/usr/local/include/gtsam/linear/JacobianFactor.h:117:5: note: candidate: gtsam::JacobianFactor::JacobianFactor()
     JacobianFactor();
     ^
/usr/local/include/gtsam/linear/JacobianFactor.h:117:5: note:   candidate expects 0 arguments, 8 provided
/usr/local/include/gtsam/linear/JacobianFactor.h:114:14: note: candidate: gtsam::JacobianFactor::JacobianFactor(const gtsam::HessianFactor&)
     explicit JacobianFactor(const HessianFactor& hf);
              ^
/usr/local/include/gtsam/linear/JacobianFactor.h:114:14: note:   candidate expects 1 argument, 8 provided
/usr/local/include/gtsam/linear/JacobianFactor.h:111:5: note: candidate: gtsam::JacobianFactor::JacobianFactor(const gtsam::JacobianFactor&)
     JacobianFactor(const JacobianFactor& jf) : Base(jf), Ab_(jf.Ab_), model_(jf
     ^
/usr/local/include/gtsam/linear/JacobianFactor.h:111:5: note:   candidate expects 1 argument, 8 provided
/usr/local/include/gtsam/linear/JacobianFactor.h:108:14: note: candidate: gtsam::JacobianFactor::JacobianFactor(const gtsam::GaussianFactor&)
     explicit JacobianFactor(const GaussianFactor& gf);
              ^
/usr/local/include/gtsam/linear/JacobianFactor.h:108:14: note:   candidate expects 1 argument, 8 provided
In file included from /usr/local/include/gtsam/linear/ConjugateGradientSolver.h:22:0,
                 from /usr/local/include/gtsam/linear/SubgraphSolver.h:22,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:25,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/linear/IterativeSolver.h: At global scope:
/usr/local/include/gtsam/linear/IterativeSolver.h:97:38: error: ‘Key’ was not declared in this scope
       boost::optional<const std::map<Key, Vector>&> lambda = boost::none);
                                      ^
/usr/local/include/gtsam/linear/IterativeSolver.h:97:49: error: template argument 1 is invalid
       boost::optional<const std::map<Key, Vector>&> lambda = boost::none);
                                                 ^
/usr/local/include/gtsam/linear/IterativeSolver.h:97:49: error: template argument 3 is invalid
/usr/local/include/gtsam/linear/IterativeSolver.h:97:49: error: template argument 4 is invalid
/usr/local/include/gtsam/linear/IterativeSolver.h:97:51: error: template argument 1 is invalid
       boost::optional<const std::map<Key, Vector>&> lambda = boost::none);
                                                   ^
/usr/local/include/gtsam/linear/IterativeSolver.h:97:51: error: template argument 1 is invalid
/usr/local/include/gtsam/linear/IterativeSolver.h:97:14: error: ‘boost::optional’ is not a type
       boost::optional<const std::map<Key, Vector>&> lambda = boost::none);
              ^
/usr/local/include/gtsam/linear/IterativeSolver.h:97:22: error: expected ‘,’ or ‘...’ before ‘<’ token
       boost::optional<const std::map<Key, Vector>&> lambda = boost::none);
                      ^
/usr/local/include/gtsam/linear/IterativeSolver.h:101:22: error: ‘Key’ was not declared in this scope
       const std::map<Key, Vector> &lambda);
                      ^
/usr/local/include/gtsam/linear/IterativeSolver.h:101:33: error: template argument 1 is invalid
       const std::map<Key, Vector> &lambda);
                                 ^
/usr/local/include/gtsam/linear/IterativeSolver.h:101:33: error: template argument 3 is invalid
/usr/local/include/gtsam/linear/IterativeSolver.h:101:33: error: template argument 4 is invalid
/usr/local/include/gtsam/linear/IterativeSolver.h:105:46: error: ‘Key’ was not declared in this scope
       const KeyInfo &keyInfo, const std::map<Key, Vector> &lambda,
                                              ^
/usr/local/include/gtsam/linear/IterativeSolver.h:105:57: error: template argument 1 is invalid
       const KeyInfo &keyInfo, const std::map<Key, Vector> &lambda,
                                                         ^
/usr/local/include/gtsam/linear/IterativeSolver.h:105:57: error: template argument 3 is invalid
/usr/local/include/gtsam/linear/IterativeSolver.h:105:57: error: template argument 4 is invalid
/usr/local/include/gtsam/linear/IterativeSolver.h:95:16: error: default argument missing for parameter 3 of ‘gtsam::VectorValues gtsam::IterativeSolver::optimize(const gtsam::GaussianFactorGraph&, boost::optional<const gtsam::KeyInfo&>, int)’
   VectorValues optimize(const GaussianFactorGraph &gfg,
                ^
/usr/local/include/gtsam/linear/IterativeSolver.h:114:54: error: ‘Key’ was not declared in this scope
 class GTSAM_EXPORT KeyInfoEntry: public boost::tuple<Key, size_t, Key> {
                                                      ^
/usr/local/include/gtsam/linear/IterativeSolver.h:114:67: error: ‘Key’ was not declared in this scope
 class GTSAM_EXPORT KeyInfoEntry: public boost::tuple<Key, size_t, Key> {
                                                                   ^
/usr/local/include/gtsam/linear/IterativeSolver.h:114:70: error: template argument 1 is invalid
 class GTSAM_EXPORT KeyInfoEntry: public boost::tuple<Key, size_t, Key> {
                                                                      ^
/usr/local/include/gtsam/linear/IterativeSolver.h:114:70: error: template argument 3 is invalid
/usr/local/include/gtsam/linear/IterativeSolver.h:118:24: error: ‘Key’ was not declared in this scope
   typedef boost::tuple<Key, size_t, Key> Base;
                        ^
/usr/local/include/gtsam/linear/IterativeSolver.h:118:37: error: ‘Key’ was not declared in this scope
   typedef boost::tuple<Key, size_t, Key> Base;
                                     ^
/usr/local/include/gtsam/linear/IterativeSolver.h:118:40: error: template argument 1 is invalid
   typedef boost::tuple<Key, size_t, Key> Base;
                                        ^
/usr/local/include/gtsam/linear/IterativeSolver.h:118:40: error: template argument 3 is invalid
/usr/local/include/gtsam/linear/IterativeSolver.h:122:38: error: ‘Key’ has not been declared
   KeyInfoEntry(size_t idx, size_t d, Key start) :
                                      ^
/usr/local/include/gtsam/linear/IterativeSolver.h: In constructor ‘gtsam::KeyInfoEntry::KeyInfoEntry(std::size_t, std::size_t, int)’:
/usr/local/include/gtsam/linear/IterativeSolver.h:123:7: error: ‘typedef int gtsam::KeyInfoEntry::Base’ is not a non-static data member of ‘gtsam::KeyInfoEntry’
       Base(idx, d, start) {
       ^
/usr/local/include/gtsam/linear/IterativeSolver.h: In member function ‘std::size_t gtsam::KeyInfoEntry::index() const’:
/usr/local/include/gtsam/linear/IterativeSolver.h:126:18: error: ‘const class gtsam::KeyInfoEntry’ has no member named ‘get’
     return this->get<0>();
                  ^
/usr/local/include/gtsam/linear/IterativeSolver.h:126:25: error: expected primary-expression before ‘)’ token
     return this->get<0>();
                         ^
/usr/local/include/gtsam/linear/IterativeSolver.h: In member function ‘std::size_t gtsam::KeyInfoEntry::dim() const’:
/usr/local/include/gtsam/linear/IterativeSolver.h:129:18: error: ‘const class gtsam::KeyInfoEntry’ has no member named ‘get’
     return this->get<1>();
                  ^
/usr/local/include/gtsam/linear/IterativeSolver.h:129:25: error: expected primary-expression before ‘)’ token
     return this->get<1>();
                         ^
/usr/local/include/gtsam/linear/IterativeSolver.h: In member function ‘std::size_t gtsam::KeyInfoEntry::colstart() const’:
/usr/local/include/gtsam/linear/IterativeSolver.h:132:18: error: ‘const class gtsam::KeyInfoEntry’ has no member named ‘get’
     return this->get<2>();
                  ^
/usr/local/include/gtsam/linear/IterativeSolver.h:132:25: error: expected primary-expression before ‘)’ token
     return this->get<2>();
                         ^
/usr/local/include/gtsam/linear/IterativeSolver.h: At global scope:
/usr/local/include/gtsam/linear/IterativeSolver.h:139:45: error: ‘Key’ was not declared in this scope
 class GTSAM_EXPORT KeyInfo: public std::map<Key, KeyInfoEntry> {
                                             ^
/usr/local/include/gtsam/linear/IterativeSolver.h:139:62: error: template argument 1 is invalid
 class GTSAM_EXPORT KeyInfo: public std::map<Key, KeyInfoEntry> {
                                                              ^
/usr/local/include/gtsam/linear/IterativeSolver.h:139:62: error: template argument 3 is invalid
/usr/local/include/gtsam/linear/IterativeSolver.h:139:62: error: template argument 4 is invalid
/usr/local/include/gtsam/linear/IterativeSolver.h:143:20: error: ‘Key’ was not declared in this scope
   typedef std::map<Key, KeyInfoEntry> Base;
                    ^
/usr/local/include/gtsam/linear/IterativeSolver.h:143:37: error: template argument 1 is invalid
   typedef std::map<Key, KeyInfoEntry> Base;
                                     ^
/usr/local/include/gtsam/linear/IterativeSolver.h:143:37: error: template argument 3 is invalid
/usr/local/include/gtsam/linear/IterativeSolver.h:143:37: error: template argument 4 is invalid
In file included from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:25:0,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/linear/SubgraphSolver.h:120:46: error: ‘Key’ was not declared in this scope
       const KeyInfo &keyInfo, const std::map<Key, Vector> &lambda,
                                              ^
/usr/local/include/gtsam/linear/SubgraphSolver.h:120:57: error: template argument 1 is invalid
       const KeyInfo &keyInfo, const std::map<Key, Vector> &lambda,
                                                         ^
/usr/local/include/gtsam/linear/SubgraphSolver.h:120:57: error: template argument 3 is invalid
/usr/local/include/gtsam/linear/SubgraphSolver.h:120:57: error: template argument 4 is invalid
In file included from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23:0,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:80:8: error: ‘unique_ptr’ in namespace ‘std’ does not name a template type
   std::unique_ptr<internal::NonlinearOptimizerState> state_; ///< PIMPL'd state
        ^
/usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:147:27: error: ‘std::unique_ptr’ has not been declared
                      std::unique_ptr<internal::NonlinearOptimizerState> state);
                           ^
/usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:147:37: error: expected ‘,’ or ‘...’ before ‘<’ token
                      std::unique_ptr<internal::NonlinearOptimizerState> state);
                                     ^
In file included from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:25:0,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/linear/VectorValues.h:93:27: error: ‘Key’ was not declared in this scope
     typedef ConcurrentMap<Key, Vector> Values; ///< Typedef for the collection 
                           ^
/usr/local/include/gtsam/linear/VectorValues.h:93:38: error: template argument 1 is invalid
     typedef ConcurrentMap<Key, Vector> Values; ///< Typedef for the collection 
                                      ^
/usr/local/include/gtsam/linear/VectorValues.h:97:21: error: typedef name may not be a nested-name-specifier
     typedef Values::iterator iterator; ///< Iterator over vector values
                     ^
/usr/local/include/gtsam/linear/VectorValues.h:97:21: error: expected ‘;’ at end of member declaration
/usr/local/include/gtsam/linear/VectorValues.h:97:30: error: declaration does not declare anything [-fpermissive]
     typedef Values::iterator iterator; ///< Iterator over vector values
                              ^
/usr/local/include/gtsam/linear/VectorValues.h:98:21: error: typedef name may not be a nested-name-specifier
     typedef Values::const_iterator const_iterator; ///< Const iterator over vec
                     ^
/usr/local/include/gtsam/linear/VectorValues.h:98:21: error: expected ‘;’ at end of member declaration
/usr/local/include/gtsam/linear/VectorValues.h:98:36: error: declaration does not declare anything [-fpermissive]
     typedef Values::const_iterator const_iterator; ///< Const iterator over vec
                                    ^
/usr/local/include/gtsam/linear/VectorValues.h:102:21: error: typedef name may not be a nested-name-specifier
     typedef Values::value_type value_type; ///< Typedef to pair<Key, Vector>, a
                     ^
/usr/local/include/gtsam/linear/VectorValues.h:102:21: error: expected ‘;’ at end of member declaration
/usr/local/include/gtsam/linear/VectorValues.h:102:32: error: declaration does not declare anything [-fpermissive]
     typedef Values::value_type value_type; ///< Typedef to pair<Key, Vector>, a
                                ^
/usr/local/include/gtsam/linear/VectorValues.h:104:22: error: ‘Key’ was not declared in this scope
     typedef std::map<Key,size_t> Dims;
                      ^
/usr/local/include/gtsam/linear/VectorValues.h:104:32: error: template argument 1 is invalid
     typedef std::map<Key,size_t> Dims;
                                ^
/usr/local/include/gtsam/linear/VectorValues.h:104:32: error: template argument 3 is invalid
/usr/local/include/gtsam/linear/VectorValues.h:104:32: error: template argument 4 is invalid
/usr/local/include/gtsam/linear/VectorValues.h:145:16: error: ‘Key’ has not been declared
     size_t dim(Key j) const { return at(j).rows(); }
                ^
/usr/local/include/gtsam/linear/VectorValues.h:148:17: error: ‘Key’ has not been declared
     bool exists(Key j) const { return find(j) != end(); }
                 ^
In file included from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:25:0,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/linear/VectorValues.h:151:13: error: expected ‘;’ at end of member declaration
     Vector& at(Key j) {
             ^
/usr/local/include/gtsam/linear/VectorValues.h:151:20: error: expected ‘)’ before ‘j’
     Vector& at(Key j) {
                    ^
/usr/local/include/gtsam/linear/VectorValues.h:161:19: error: expected ‘;’ at end of member declaration
     const Vector& at(Key j) const {
                   ^
/usr/local/include/gtsam/linear/VectorValues.h:161:22: error: redeclaration of ‘const Vector& gtsam::VectorValues::at’
     const Vector& at(Key j) const {
                      ^
/usr/local/include/gtsam/linear/VectorValues.h:151:16: note: previous declaration ‘gtsam::Vector& gtsam::VectorValues::at’
     Vector& at(Key j) {
                ^
/usr/local/include/gtsam/linear/VectorValues.h:161:26: error: expected ‘)’ before ‘j’
     const Vector& at(Key j) const {
                          ^
/usr/local/include/gtsam/linear/VectorValues.h:172:24: error: declaration of ‘operator[]’ as non-function
     Vector& operator[](Key j) { return at(j); }
                        ^
/usr/local/include/gtsam/linear/VectorValues.h:172:22: error: expected ‘;’ at end of member declaration
     Vector& operator[](Key j) { return at(j); }
                      ^
/usr/local/include/gtsam/linear/VectorValues.h:172:28: error: expected ‘)’ before ‘j’
     Vector& operator[](Key j) { return at(j); }
                            ^
/usr/local/include/gtsam/linear/VectorValues.h:176:30: error: declaration of ‘operator[]’ as non-function
     const Vector& operator[](Key j) const { return at(j); }
                              ^
/usr/local/include/gtsam/linear/VectorValues.h:176:28: error: expected ‘;’ at end of member declaration
     const Vector& operator[](Key j) const { return at(j); }
                            ^
/usr/local/include/gtsam/linear/VectorValues.h:176:34: error: expected ‘)’ before ‘j’
     const Vector& operator[](Key j) const { return at(j); }
                                  ^
/usr/local/include/gtsam/linear/VectorValues.h:187:21: error: ‘Key’ has not been declared
     iterator insert(Key j, const Vector& value) {
                     ^
/usr/local/include/gtsam/linear/VectorValues.h:195:37: error: ‘Key’ was not declared in this scope
     iterator insert(const std::pair<Key, Vector>& key_value);
                                     ^
/usr/local/include/gtsam/linear/VectorValues.h:195:48: error: template argument 1 is invalid
     iterator insert(const std::pair<Key, Vector>& key_value);
                                                ^
/usr/local/include/gtsam/linear/VectorValues.h:205:29: error: template argument 1 is invalid
     std::pair<iterator, bool> tryInsert(Key j, const Vector& value) {
                             ^
/usr/local/include/gtsam/linear/VectorValues.h:205:41: error: ‘Key’ has not been declared
     std::pair<iterator, bool> tryInsert(Key j, const Vector& value) {
                                         ^
/usr/local/include/gtsam/linear/VectorValues.h:209:16: error: ‘Key’ has not been declared
     void erase(Key var) {
                ^
/usr/local/include/gtsam/linear/VectorValues.h:227:19: error: ‘Key’ has not been declared
     iterator find(Key j) { return values_.find(j); }
                   ^
/usr/local/include/gtsam/linear/VectorValues.h:230:25: error: ‘Key’ has not been declared
     const_iterator find(Key j) const { return values_.find(j); }
                         ^
/usr/local/include/gtsam/linear/VectorValues.h:247:36: error: ‘Key’ was not declared in this scope
     Vector vector(const FastVector<Key>& keys) const;
                                    ^
/usr/local/include/gtsam/linear/VectorValues.h:247:39: error: template argument 1 is invalid
     Vector vector(const FastVector<Key>& keys) const;
                                       ^
/usr/local/include/gtsam/linear/VectorValues.h:250:12: error: ‘gtsam::Vector gtsam::VectorValues::vector(const Dims&) const’ cannot be overloaded
     Vector vector(const Dims& dims) const;
            ^
/usr/local/include/gtsam/linear/VectorValues.h:247:12: error: with ‘gtsam::Vector gtsam::VectorValues::vector(const int&) const’
     Vector vector(const FastVector<Key>& keys) const;
            ^
In file included from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:25:0,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/linear/VectorValues.h: In constructor ‘gtsam::VectorValues::VectorValues()’:
/usr/local/include/gtsam/linear/VectorValues.h:112:5: error: uninitialized reference member in ‘gtsam::Vector& {aka class Eigen::Matrix<double, -1, 1>&}’ [-fpermissive]
     VectorValues() {}
     ^
In file included from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:25:0,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/linear/VectorValues.h:151:16: note: ‘gtsam::Vector& gtsam::VectorValues::at’ should be initialized
     Vector& at(Key j) {
                ^
In file included from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:25:0,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/linear/VectorValues.h: In copy constructor ‘gtsam::VectorValues::VectorValues(const gtsam::VectorValues&)’:
/usr/local/include/gtsam/linear/VectorValues.h:122:5: error: uninitialized reference member in ‘gtsam::Vector& {aka class Eigen::Matrix<double, -1, 1>&}’ [-fpermissive]
     VectorValues(const VectorValues& c) : values_(c.values_) {}
     ^
In file included from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:25:0,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/linear/VectorValues.h:151:16: note: ‘gtsam::Vector& gtsam::VectorValues::at’ should be initialized
     Vector& at(Key j) {
                ^
In file included from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:25:0,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/linear/VectorValues.h: In member function ‘std::size_t gtsam::VectorValues::size() const’:
/usr/local/include/gtsam/linear/VectorValues.h:142:42: error: request for member ‘size’ in ‘((const gtsam::VectorValues*)this)->gtsam::VectorValues::values_’, which is of non-class type ‘const Values {aka const int}’
     size_t size() const { return values_.size(); }
                                          ^
/usr/local/include/gtsam/linear/VectorValues.h: In member function ‘std::size_t gtsam::VectorValues::dim(int) const’:
/usr/local/include/gtsam/linear/VectorValues.h:145:44: error: request for member ‘rows’ in ‘((Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, 1>, 1>*)((Eigen::DenseBase<Eigen::Matrix<double, -1, 1> >*)(&((const gtsam::VectorValues*)this)->gtsam::VectorValues::at)))->Eigen::DenseCoeffsBase<Derived, 1>::operator()<Eigen::Matrix<double, -1, 1> >(((Eigen::Index)j))’, which is of non-class type ‘Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, 1>, 1>::Scalar {aka double}’
     size_t dim(Key j) const { return at(j).rows(); }
                                            ^
/usr/local/include/gtsam/linear/VectorValues.h: In member function ‘bool gtsam::VectorValues::exists(int) const’:
/usr/local/include/gtsam/linear/VectorValues.h:148:45: error: ‘find’ was not declared in this scope
     bool exists(Key j) const { return find(j) != end(); }
                                             ^
/usr/local/include/gtsam/linear/VectorValues.h:148:45: note: suggested alternatives:
In file included from /usr/include/c++/5/algorithm:62:0,
                 from /usr/include/eigen3/Eigen/Core:232,
                 from /usr/include/eigen3/Eigen/Dense:1,
                 from /usr/local/include/gtsam/base/OptionalJacobian.h:22,
                 from /usr/local/include/gtsam/base/Matrix.h:25,
                 from /usr/local/include/gtsam/base/Manifold.h:22,
                 from /usr/local/include/gtsam/base/Lie.h:25,
                 from /usr/local/include/gtsam/base/VectorSpace.h:11,
                 from /usr/local/include/gtsam/geometry/Point2.h:20,
                 from /usr/local/include/gtsam/geometry/Rot2.h:21,
                 from SimpleRotation.cpp:26:
/usr/include/c++/5/bits/stl_algo.h:3782:5: note:   ‘std::find’
     find(_InputIterator __first, _InputIterator __last,
     ^
In file included from /usr/include/boost/mpl/aux_/contains_impl.hpp:20:0,
                 from /usr/include/boost/mpl/contains.hpp:20,
                 from /usr/include/boost/math/policies/policy.hpp:10,
                 from /usr/include/boost/math/special_functions/math_fwd.hpp:28,
                 from /usr/include/boost/math/special_functions/fpclassify.hpp:19,
                 from /usr/local/include/gtsam/base/Matrix.h:36,
                 from /usr/local/include/gtsam/base/Manifold.h:22,
                 from /usr/local/include/gtsam/base/Lie.h:25,
                 from /usr/local/include/gtsam/base/VectorSpace.h:11,
                 from /usr/local/include/gtsam/geometry/Point2.h:20,
                 from /usr/local/include/gtsam/geometry/Rot2.h:21,
                 from SimpleRotation.cpp:26:
/usr/include/boost/mpl/find.hpp:28:8: note:   ‘boost::mpl::find’
 struct find
        ^
In file included from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:25:0,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/linear/VectorValues.h:148:54: error: ‘end’ was not declared in this scope
     bool exists(Key j) const { return find(j) != end(); }
                                                      ^
/usr/local/include/gtsam/linear/VectorValues.h:148:54: note: suggested alternatives:
In file included from /usr/include/boost/range/concepts.hpp:22:0,
                 from /usr/local/include/gtsam/base/types.h:24,
                 from /usr/local/include/gtsam/global_includes.h:22,
                 from /usr/local/include/gtsam/base/Vector.h:27,
                 from /usr/local/include/gtsam/base/Matrix.h:26,
                 from /usr/local/include/gtsam/base/Manifold.h:22,
                 from /usr/local/include/gtsam/base/Lie.h:25,
                 from /usr/local/include/gtsam/base/VectorSpace.h:11,
                 from /usr/local/include/gtsam/geometry/Point2.h:20,
                 from /usr/local/include/gtsam/geometry/Rot2.h:21,
                 from SimpleRotation.cpp:26:
/usr/include/boost/range/end.hpp:100:61: note:   ‘boost::range_adl_barrier::end’
 inline BOOST_DEDUCED_TYPENAME range_iterator<const T>::type end( const T& r )
                                                             ^
In file included from /usr/include/boost/mpl/list/aux_/begin_end.hpp:17:0,
                 from /usr/include/boost/mpl/list/list0.hpp:27,
                 from /usr/include/boost/mpl/list/list10.hpp:18,
                 from /usr/include/boost/mpl/list/list20.hpp:18,
                 from /usr/include/boost/mpl/list.hpp:36,
                 from /usr/include/boost/math/policies/policy.hpp:9,
                 from /usr/include/boost/math/special_functions/math_fwd.hpp:28,
                 from /usr/include/boost/math/special_functions/fpclassify.hpp:19,
                 from /usr/local/include/gtsam/base/Matrix.h:36,
                 from /usr/local/include/gtsam/base/Manifold.h:22,
                 from /usr/local/include/gtsam/base/Lie.h:25,
                 from /usr/local/include/gtsam/base/VectorSpace.h:11,
                 from /usr/local/include/gtsam/geometry/Point2.h:20,
                 from /usr/local/include/gtsam/geometry/Rot2.h:21,
                 from SimpleRotation.cpp:26:
/usr/include/boost/mpl/begin_end_fwd.hpp:23:38: note:   ‘boost::mpl::end’
 template< typename Sequence > struct end;
                                      ^
In file included from /usr/include/boost/range/concepts.hpp:22:0,
                 from /usr/local/include/gtsam/base/types.h:24,
                 from /usr/local/include/gtsam/global_includes.h:22,
                 from /usr/local/include/gtsam/base/Vector.h:27,
                 from /usr/local/include/gtsam/base/Matrix.h:26,
                 from /usr/local/include/gtsam/base/Manifold.h:22,
                 from /usr/local/include/gtsam/base/Lie.h:25,
                 from /usr/local/include/gtsam/base/VectorSpace.h:11,
                 from /usr/local/include/gtsam/geometry/Point2.h:20,
                 from /usr/local/include/gtsam/geometry/Rot2.h:21,
                 from SimpleRotation.cpp:26:
/usr/include/boost/range/end.hpp:100:61: note:   ‘boost::range_adl_barrier::end’
 inline BOOST_DEDUCED_TYPENAME range_iterator<const T>::type end( const T& r )
                                                             ^
In file included from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:25:0,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/linear/VectorValues.h: In member function ‘int gtsam::VectorValues::tryInsert(int, const Vector&)’:
/usr/local/include/gtsam/linear/VectorValues.h:206:22: error: request for member ‘insert’ in ‘((gtsam::VectorValues*)this)->gtsam::VectorValues::values_’, which is of non-class type ‘gtsam::VectorValues::Values {aka int}’
       return values_.insert(std::make_pair(j, value)); }
                      ^
/usr/local/include/gtsam/linear/VectorValues.h: In member function ‘void gtsam::VectorValues::erase(int)’:
/usr/local/include/gtsam/linear/VectorValues.h:210:18: error: request for member ‘unsafe_erase’ in ‘((gtsam::VectorValues*)this)->gtsam::VectorValues::values_’, which is of non-class type ‘gtsam::VectorValues::Values {aka int}’
       if(values_.unsafe_erase(var) == 0)
                  ^
/usr/local/include/gtsam/linear/VectorValues.h:211:85: error: ‘gtsam::DefaultKeyFormatter’ cannot be used as a function
 d::invalid_argument("Requested variable '" + DefaultKeyFormatter(var) + "', is 
                                                                     ^
SimpleRotation.cpp: In function ‘int main()’:
SimpleRotation.cpp:81:45: error: no matching function for call to ‘gtsam::PriorFactor<gtsam::Rot2>::PriorFactor(gtsam::Symbol&, gtsam::Rot2&, gtsam::noiseModel::Isotropic::shared_ptr&)’
   PriorFactor<Rot2> factor(key, prior, model);
                                             ^
In file included from SimpleRotation.cpp:36:0:
/usr/local/include/gtsam/slam/PriorFactor.h:51:5: note: candidate: gtsam::PriorFactor<VALUE>::PriorFactor() [with VALUE = gtsam::Rot2]
     PriorFactor() {}
     ^
/usr/local/include/gtsam/slam/PriorFactor.h:51:5: note:   candidate expects 0 arguments, 3 provided
/usr/local/include/gtsam/slam/PriorFactor.h:28:9: note: candidate: gtsam::PriorFactor<gtsam::Rot2>::PriorFactor(const gtsam::PriorFactor<gtsam::Rot2>&)
   class PriorFactor: public NoiseModelFactor1<VALUE> {
         ^
/usr/local/include/gtsam/slam/PriorFactor.h:28:9: note:   candidate expects 1 argument, 3 provided
SimpleRotation.cpp:93:25: error: no matching function for call to ‘gtsam::NonlinearFactorGraph::push_back(gtsam::PriorFactor<gtsam::Rot2>&)’
   graph.push_back(factor);
                         ^
In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:26:0,
                 from SimpleRotation.cpp:40:
/usr/local/include/gtsam/inference/FactorGraph.h:160:10: note: candidate: void gtsam::FactorGraph<FACTOR>::push_back(const sharedFactor&) [with FACTOR = gtsam::NonlinearFactor; gtsam::FactorGraph<FACTOR>::sharedFactor = boost::shared_ptr<gtsam::NonlinearFactor>]
     void push_back(const sharedFactor& factor) {
          ^
/usr/local/include/gtsam/inference/FactorGraph.h:160:10: note:   no known conversion for argument 1 from ‘gtsam::PriorFactor<gtsam::Rot2>’ to ‘const sharedFactor& {aka const boost::shared_ptr<gtsam::NonlinearFactor>&}’
SimpleRotation.cpp:113:51: error: no matching function for call to ‘gtsam::Values::insert(gtsam::Symbol&, gtsam::Rot2)’
   initial.insert(key, Rot2::fromAngle(20 * degree));
                                                   ^
In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:23:0,
                 from /usr/local/include/gtsam/slam/PriorFactor.h:18,
                 from SimpleRotation.cpp:36:
/usr/local/include/gtsam/nonlinear/Values.h:254:10: note: candidate: void gtsam::Values::insert(int, const gtsam::Value&)
     void insert(Key j, const Value& val);
          ^
/usr/local/include/gtsam/nonlinear/Values.h:254:10: note:   no known conversion for argument 1 from ‘gtsam::Symbol’ to ‘int’
/usr/local/include/gtsam/nonlinear/Values.h:257:10: note: candidate: void gtsam::Values::insert(const gtsam::Values&)
     void insert(const Values& values);
          ^
/usr/local/include/gtsam/nonlinear/Values.h:257:10: note:   candidate expects 1 argument, 2 provided
/usr/local/include/gtsam/nonlinear/Values.h:263:10: note: candidate: template<class ValueType> void gtsam::Values::insert(int, const ValueType&)
     void insert(Key j, const ValueType& val);
          ^
/usr/local/include/gtsam/nonlinear/Values.h:263:10: note:   template argument deduction/substitution failed:
SimpleRotation.cpp:113:51: note:   cannot convert ‘key’ (type ‘gtsam::Symbol’) to type ‘int’
   initial.insert(key, Rot2::fromAngle(20 * degree));
                                                   ^
In file included from /usr/include/c++/5/algorithm:62:0,
                 from /usr/include/eigen3/Eigen/Core:232,
                 from /usr/include/eigen3/Eigen/Dense:1,
                 from /usr/local/include/gtsam/base/OptionalJacobian.h:22,
                 from /usr/local/include/gtsam/base/Matrix.h:25,
                 from /usr/local/include/gtsam/base/Manifold.h:22,
                 from /usr/local/include/gtsam/base/Lie.h:25,
                 from /usr/local/include/gtsam/base/VectorSpace.h:11,
                 from /usr/local/include/gtsam/geometry/Point2.h:20,
                 from /usr/local/include/gtsam/geometry/Rot2.h:21,
                 from SimpleRotation.cpp:26:
/usr/include/c++/5/bits/stl_algo.h: In instantiation of ‘_Iterator std::__find_if(_Iterator, _Iterator, _Predicate) [with _Iterator = int; _Predicate = __gnu_cxx::__ops::_Iter_equals_val<const int>]’:
/usr/include/c++/5/bits/stl_algo.h:3790:28:   required from ‘_IIter std::find(_IIter, _IIter, const _Tp&) [with _IIter = int; _Tp = int]’
/usr/local/include/gtsam/inference/Factor.h:112:78:   required from here
/usr/include/c++/5/bits/stl_algo.h:162:34: error: no matching function for call to ‘__iterator_category(int&)’
          std::__iterator_category(__first));
                                  ^
In file included from /usr/include/c++/5/bits/stl_algobase.h:65:0,
                 from /usr/include/c++/5/bits/char_traits.h:39,
                 from /usr/include/c++/5/ios:40,
                 from /usr/include/c++/5/istream:38,
                 from /usr/include/c++/5/sstream:38,
                 from /usr/include/c++/5/complex:45,
                 from /usr/include/eigen3/Eigen/Core:70,
                 from /usr/include/eigen3/Eigen/Dense:1,
                 from /usr/local/include/gtsam/base/OptionalJacobian.h:22,
                 from /usr/local/include/gtsam/base/Matrix.h:25,
                 from /usr/local/include/gtsam/base/Manifold.h:22,
                 from /usr/local/include/gtsam/base/Lie.h:25,
                 from /usr/local/include/gtsam/base/VectorSpace.h:11,
                 from /usr/local/include/gtsam/geometry/Point2.h:20,
                 from /usr/local/include/gtsam/geometry/Rot2.h:21,
                 from SimpleRotation.cpp:26:
/usr/include/c++/5/bits/stl_iterator_base_types.h:204:5: note: candidate: template<class _Iter> typename std::iterator_traits<_Iterator>::iterator_category std::__iterator_category(const _Iter&)
     __iterator_category(const _Iter&)
     ^
/usr/include/c++/5/bits/stl_iterator_base_types.h:204:5: note:   template argument deduction/substitution failed:
In file included from /usr/local/include/gtsam/linear/GaussianFactor.h:23:0,
                 from /usr/local/include/gtsam/linear/JacobianFactor.h:21,
                 from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25,
                 from /usr/local/include/gtsam/slam/PriorFactor.h:18,
                 from SimpleRotation.cpp:36:
/usr/local/include/gtsam/inference/Factor.h: In instantiation of ‘gtsam::Factor::Factor(const CONTAINER&) [with CONTAINER = gtsam::JacobianFactor]’:
/usr/local/include/gtsam/linear/GaussianFactor.h:51:54:   required from ‘gtsam::GaussianFactor::GaussianFactor(const CONTAINER&) [with CONTAINER = gtsam::JacobianFactor]’
/usr/local/include/gtsam/linear/JacobianFactor.h:111:87:   required from here
/usr/local/include/gtsam/inference/Factor.h:80:76: error: expression list treated as compound expression in mem-initializer [-fpermissive]
     explicit Factor(const CONTAINER& keys) : keys_(keys.begin(), keys.end()) {}
                                                                            ^
In file included from /usr/local/include/gtsam/inference/FactorGraph.h:30:0,
                 from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:26,
                 from SimpleRotation.cpp:40:
/usr/include/boost/assign/list_inserter.hpp: In instantiation of ‘void boost::assign_detail::call_push_back<C>::operator()(T) [with T = int; C = gtsam::Ordering]’:
/usr/include/boost/assign/list_inserter.hpp:272:13:   required from ‘boost::assign::list_inserter<Function, Argument>& boost::assign::list_inserter<Function, Argument>::operator()(const T&) [with T = int; Function = boost::assign_detail::call_push_back<gtsam::Ordering>; Argument = boost::assign_detail::forward_n_arguments]’
/usr/local/include/gtsam/inference/Ordering.h:69:63:   required from here
/usr/include/boost/assign/list_inserter.hpp:68:13: error: ‘class gtsam::Ordering’ has no member named ‘push_back’
             c_.push_back( r );
             ^
In file included from /usr/local/include/gtsam/nonlinear/Values.h:532:0,
                 from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:23,
                 from /usr/local/include/gtsam/slam/PriorFactor.h:18,
                 from SimpleRotation.cpp:36:
/usr/local/include/gtsam/nonlinear/Values-inl.h: In instantiation of ‘static CastedKeyValuePairType gtsam::ValuesCastHelper<gtsam::Value, CastedKeyValuePairType, KeyValuePairType>::cast(KeyValuePairType) [with CastedKeyValuePairType = gtsam::_ValuesKeyValuePair<gtsam::Value>; KeyValuePairType = gtsam::Values::KeyValuePair]’:
/usr/local/include/gtsam/nonlinear/Values-inl.h:141:17:   required from ‘gtsam::Values::Filtered<ValueType>::Filtered(const boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>&, gtsam::Values&) [with ValueType = gtsam::Value]’
/usr/local/include/gtsam/nonlinear/Values-inl.h:246:91:   required from ‘gtsam::Values::Filtered<ValueType> gtsam::Values::filter(const int&) [with ValueType = gtsam::Value]’
/usr/local/include/gtsam/nonlinear/Values-inl.h:239:35:   required from here
/usr/local/include/gtsam/nonlinear/Values-inl.h:78:67: error: ‘struct gtsam::Values::KeyValuePair’ has no member named ‘key’
       return CastedKeyValuePairType(key_value.key, key_value.value);
                                                                   ^
/usr/local/include/gtsam/nonlinear/Values-inl.h: In instantiation of ‘static CastedKeyValuePairType gtsam::ValuesCastHelper<const gtsam::Value, CastedKeyValuePairType, KeyValuePairType>::cast(KeyValuePairType) [with CastedKeyValuePairType = gtsam::_ValuesConstKeyValuePair<gtsam::Value>; KeyValuePairType = gtsam::Values::ConstKeyValuePair]’:
/usr/local/include/gtsam/nonlinear/Values-inl.h:149:17:   required from ‘gtsam::Values::Filtered<ValueType>::Filtered(const boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>&, gtsam::Values&) [with ValueType = gtsam::Value]’
/usr/local/include/gtsam/nonlinear/Values-inl.h:246:91:   required from ‘gtsam::Values::Filtered<ValueType> gtsam::Values::filter(const int&) [with ValueType = gtsam::Value]’
/usr/local/include/gtsam/nonlinear/Values-inl.h:239:35:   required from here
/usr/local/include/gtsam/nonlinear/Values-inl.h:88:67: error: ‘struct gtsam::Values::ConstKeyValuePair’ has no member named ‘key’
       return CastedKeyValuePairType(key_value.key, key_value.value);
                                                                   ^
In file included from /usr/local/include/gtsam/inference/Ordering.h:22:0,
                 from /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:26,
                 from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:25,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
                 from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
                 from SimpleRotation.cpp:53:
/usr/local/include/gtsam/inference/VariableIndex.h: In instantiation of ‘gtsam::VariableIndex::VariableIndex(const FG&) [with FG = gtsam::FactorGraph<gtsam::NonlinearFactor>]’:
/usr/local/include/gtsam/inference/Ordering.h:85:20:   required from ‘static gtsam::Ordering gtsam::Ordering::Colamd(const gtsam::FactorGraph<DERIVEDFACTOR>&) [with FACTOR = gtsam::NonlinearFactor]’
/usr/local/include/gtsam/inference/Ordering.h:208:20:   required from ‘static gtsam::Ordering gtsam::Ordering::Create(gtsam::Ordering::OrderingType, const gtsam::FactorGraph<DERIVEDFACTOR>&) [with FACTOR = gtsam::NonlinearFactor]’
/usr/local/include/gtsam/nonlinear/LevenbergMarquardtParams.h:112:68:   required from here
/usr/local/include/gtsam/inference/VariableIndex.h:74:3: error: uninitialized reference member in ‘const Factors& {aka const class gtsam::FastVector<long unsigned int>&}’ [-fpermissive]
   VariableIndex(const FG& factorGraph) : nFactors_(0), nEntries_(0) { augment(f
   ^
/usr/local/include/gtsam/inference/VariableIndex.h:164:29: note: ‘const Factors& gtsam::VariableIndex::internalAt’ should be initialized
   const Factors& internalAt(Key variable) const {
                             ^
In file included from /usr/local/include/gtsam/inference/FactorGraph.h:368:0,
                 from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:26,
                 from SimpleRotation.cpp:40:
/usr/local/include/gtsam/inference/FactorGraph-inst.h: In instantiation of ‘gtsam::KeySet gtsam::FactorGraph<FACTOR>::keys() const [with FACTOR = gtsam::NonlinearFactor; gtsam::KeySet = int]’:
/usr/local/include/gtsam/inference/Ordering.h:177:26:   required from ‘static gtsam::Ordering gtsam::Ordering::Natural(const gtsam::FactorGraph<DERIVEDFACTOR>&) [with FACTOR = gtsam::NonlinearFactor]’
/usr/local/include/gtsam/inference/Ordering.h:212:21:   required from ‘static gtsam::Ordering gtsam::Ordering::Create(gtsam::Ordering::OrderingType, const gtsam::FactorGraph<DERIVEDFACTOR>&) [with FACTOR = gtsam::NonlinearFactor]’
/usr/local/include/gtsam/nonlinear/LevenbergMarquardtParams.h:112:68:   required from here
/usr/local/include/gtsam/inference/FactorGraph-inst.h:78:7: error: use of local variable with automatic storage from containing function
       if(factor)
       ^
/usr/local/include/gtsam/inference/FactorGraph-inst.h:77:29: note: ‘const sharedFactor& factor’ declared here
     for(const sharedFactor& factor: this->factors_) {
                             ^
In file included from /usr/local/include/gtsam/nonlinear/Values.h:31:0,
                 from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:23,
                 from /usr/local/include/gtsam/slam/PriorFactor.h:18,
                 from SimpleRotation.cpp:36:
/usr/include/boost/iterator/filter_iterator.hpp: In instantiation of ‘void boost::iterators::filter_iterator<Predicate, Iterator>::satisfy_predicate() [with Predicate = boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>; Iterator = int]’:
/usr/include/boost/iterator/filter_iterator.hpp:60:28:   required from ‘boost::iterators::filter_iterator<Predicate, Iterator>::filter_iterator(Predicate, Iterator, Iterator) [with Predicate = boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>; Iterator = int]’
/usr/include/boost/iterator/filter_iterator.hpp:115:57:   required from ‘boost::iterators::filter_iterator<Predicate, Iterator> boost::iterators::make_filter_iterator(Predicate, Iterator, Iterator) [with Predicate = boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>; Iterator = int]’
/usr/local/include/gtsam/nonlinear/Values-inl.h:140:44:   required from ‘gtsam::Values::Filtered<ValueType>::Filtered(const boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>&, gtsam::Values&) [with ValueType = gtsam::Value]’
/usr/local/include/gtsam/nonlinear/Values-inl.h:246:91:   required from ‘gtsam::Values::Filtered<ValueType> gtsam::Values::filter(const int&) [with ValueType = gtsam::Value]’
/usr/local/include/gtsam/nonlinear/Values-inl.h:239:35:   required from here
/usr/include/boost/iterator/filter_iterator.hpp:101:31: error: ‘class boost::iterators::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>’ has no member named ‘base’
           while (this->base() != this->m_end && !this->m_predicate(*this->base(
                               ^
/usr/include/boost/iterator/filter_iterator.hpp:101:68: error: ‘class boost::iterators::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>’ has no member named ‘base’
           while (this->base() != this->m_end && !this->m_predicate(*this->base(
                                                                    ^
/usr/include/boost/iterator/filter_iterator.hpp:102:15: error: ‘class boost::iterators::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>’ has no member named ‘base_reference’
               ++(this->base_reference());
               ^
In file included from SimpleRotation.cpp:36:0:
/usr/local/include/gtsam/slam/PriorFactor.h: In instantiation of ‘void gtsam::PriorFactor<VALUE>::print(const string&, const KeyFormatter&) const [with VALUE = gtsam::Rot2; std::__cxx11::string = std::__cxx11::basic_string<char>; gtsam::KeyFormatter = int]’:
SimpleRotation.cpp:128:1:   required from here
/usr/local/include/gtsam/slam/PriorFactor.h:74:58: error: ‘const class gtsam::PriorFactor<gtsam::Rot2>’ has no member named ‘key’
       std::cout << s << "PriorFactor on " << keyFormatter(this->key()) << "\n";
                                                          ^
/usr/local/include/gtsam/slam/PriorFactor.h:74:58: error: expression cannot be used as a function
<builtin>: recipe for target 'SimpleRotation' failed
make: *** [SimpleRotation] Error 1