[  4%] Built target CppUnitLite
[ 34%] Built target metis
[ 95%] Built target gtsam
[100%] Built target testAHRSFactor
==9141== Memcheck, a memory error detector
==9141== Copyright (C) 2002-2017, and GNU GPL'd, by Julian Seward et al.
==9141== Using Valgrind-3.15.0 and LibVEX; rerun with -h for copyright info
==9141== Command: /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor
==9141== 
==9141== Conditional jump or move depends on uninitialised value(s)
==9141==    at 0x4FB4DA9: gtsam::so3::ExpmapFunctor::ExpmapFunctor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB54C3: gtsam::so3::DexpFunctor::DexpFunctor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB6547: gtsam::SO3::ExpmapDerivative(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB177C: gtsam::Rot3::ExpmapDerivative(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x5172524: gtsam::PreintegratedRotation::incrementalRotation(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>) const (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x517271A: gtsam::PreintegratedRotation::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>, gtsam::OptionalJacobian<3, 3>) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x51537B1: gtsam::PreintegratedAhrsMeasurements::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x123721: AHRSFactorFirstOrderPreIntegratedMeasurementsTest::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x138561: TestRegistry::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x11F347: main (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141== 
==9141== Conditional jump or move depends on uninitialised value(s)
==9141==    at 0x4FB4CF1: gtsam::so3::ExpmapFunctor::init(bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB4E21: gtsam::so3::ExpmapFunctor::ExpmapFunctor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB54C3: gtsam::so3::DexpFunctor::DexpFunctor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB6547: gtsam::SO3::ExpmapDerivative(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB177C: gtsam::Rot3::ExpmapDerivative(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x5172524: gtsam::PreintegratedRotation::incrementalRotation(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>) const (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x517271A: gtsam::PreintegratedRotation::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>, gtsam::OptionalJacobian<3, 3>) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x51537B1: gtsam::PreintegratedAhrsMeasurements::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x123721: AHRSFactorFirstOrderPreIntegratedMeasurementsTest::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x138561: TestRegistry::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x11F347: main (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141== 
==9141== Conditional jump or move depends on uninitialised value(s)
==9141==    at 0x5AABF29: __sin_fma (s_sin.c:463)
==9141==    by 0x4FB4D25: gtsam::so3::ExpmapFunctor::init(bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB4E21: gtsam::so3::ExpmapFunctor::ExpmapFunctor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB54C3: gtsam::so3::DexpFunctor::DexpFunctor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB6547: gtsam::SO3::ExpmapDerivative(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB177C: gtsam::Rot3::ExpmapDerivative(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x5172524: gtsam::PreintegratedRotation::incrementalRotation(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>) const (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x517271A: gtsam::PreintegratedRotation::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>, gtsam::OptionalJacobian<3, 3>) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x51537B1: gtsam::PreintegratedAhrsMeasurements::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x123721: AHRSFactorFirstOrderPreIntegratedMeasurementsTest::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x138561: TestRegistry::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x11F347: main (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141== 
==9141== Conditional jump or move depends on uninitialised value(s)
==9141==    at 0x5AABF85: __sin_fma (s_sin.c:469)
==9141==    by 0x4FB4D25: gtsam::so3::ExpmapFunctor::init(bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB4E21: gtsam::so3::ExpmapFunctor::ExpmapFunctor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB54C3: gtsam::so3::DexpFunctor::DexpFunctor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB6547: gtsam::SO3::ExpmapDerivative(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB177C: gtsam::Rot3::ExpmapDerivative(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x5172524: gtsam::PreintegratedRotation::incrementalRotation(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>) const (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x517271A: gtsam::PreintegratedRotation::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>, gtsam::OptionalJacobian<3, 3>) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x51537B1: gtsam::PreintegratedAhrsMeasurements::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x123721: AHRSFactorFirstOrderPreIntegratedMeasurementsTest::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x138561: TestRegistry::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x11F347: main (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141== 
==9141== Conditional jump or move depends on uninitialised value(s)
==9141==    at 0x5AABFE1: __sin_fma (s_sin.c:476)
==9141==    by 0x4FB4D25: gtsam::so3::ExpmapFunctor::init(bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB4E21: gtsam::so3::ExpmapFunctor::ExpmapFunctor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB54C3: gtsam::so3::DexpFunctor::DexpFunctor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB6547: gtsam::SO3::ExpmapDerivative(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB177C: gtsam::Rot3::ExpmapDerivative(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x5172524: gtsam::PreintegratedRotation::incrementalRotation(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>) const (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x517271A: gtsam::PreintegratedRotation::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>, gtsam::OptionalJacobian<3, 3>) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x51537B1: gtsam::PreintegratedAhrsMeasurements::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x123721: AHRSFactorFirstOrderPreIntegratedMeasurementsTest::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x138561: TestRegistry::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x11F347: main (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141== 
==9141== Conditional jump or move depends on uninitialised value(s)
==9141==    at 0x5AABFE3: __sin_fma (s_sin.c:476)
==9141==    by 0x4FB4D25: gtsam::so3::ExpmapFunctor::init(bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB4E21: gtsam::so3::ExpmapFunctor::ExpmapFunctor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB54C3: gtsam::so3::DexpFunctor::DexpFunctor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB6547: gtsam::SO3::ExpmapDerivative(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB177C: gtsam::Rot3::ExpmapDerivative(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x5172524: gtsam::PreintegratedRotation::incrementalRotation(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>) const (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x517271A: gtsam::PreintegratedRotation::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>, gtsam::OptionalJacobian<3, 3>) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x51537B1: gtsam::PreintegratedAhrsMeasurements::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x123721: AHRSFactorFirstOrderPreIntegratedMeasurementsTest::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x138561: TestRegistry::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x11F347: main (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141== 
==9141== Conditional jump or move depends on uninitialised value(s)
==9141==    at 0x5AABF29: __sin_fma (s_sin.c:463)
==9141==    by 0x4FB4D44: gtsam::so3::ExpmapFunctor::init(bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB4E21: gtsam::so3::ExpmapFunctor::ExpmapFunctor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB54C3: gtsam::so3::DexpFunctor::DexpFunctor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB6547: gtsam::SO3::ExpmapDerivative(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB177C: gtsam::Rot3::ExpmapDerivative(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x5172524: gtsam::PreintegratedRotation::incrementalRotation(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>) const (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x517271A: gtsam::PreintegratedRotation::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>, gtsam::OptionalJacobian<3, 3>) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x51537B1: gtsam::PreintegratedAhrsMeasurements::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x123721: AHRSFactorFirstOrderPreIntegratedMeasurementsTest::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x138561: TestRegistry::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x11F347: main (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141== 
==9141== Conditional jump or move depends on uninitialised value(s)
==9141==    at 0x5AABF85: __sin_fma (s_sin.c:469)
==9141==    by 0x4FB4D44: gtsam::so3::ExpmapFunctor::init(bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB4E21: gtsam::so3::ExpmapFunctor::ExpmapFunctor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB54C3: gtsam::so3::DexpFunctor::DexpFunctor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB6547: gtsam::SO3::ExpmapDerivative(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB177C: gtsam::Rot3::ExpmapDerivative(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x5172524: gtsam::PreintegratedRotation::incrementalRotation(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>) const (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x517271A: gtsam::PreintegratedRotation::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>, gtsam::OptionalJacobian<3, 3>) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x51537B1: gtsam::PreintegratedAhrsMeasurements::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x123721: AHRSFactorFirstOrderPreIntegratedMeasurementsTest::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x138561: TestRegistry::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x11F347: main (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141== 
==9141== Conditional jump or move depends on uninitialised value(s)
==9141==    at 0x5AABFE1: __sin_fma (s_sin.c:476)
==9141==    by 0x4FB4D44: gtsam::so3::ExpmapFunctor::init(bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB4E21: gtsam::so3::ExpmapFunctor::ExpmapFunctor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB54C3: gtsam::so3::DexpFunctor::DexpFunctor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB6547: gtsam::SO3::ExpmapDerivative(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB177C: gtsam::Rot3::ExpmapDerivative(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x5172524: gtsam::PreintegratedRotation::incrementalRotation(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>) const (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x517271A: gtsam::PreintegratedRotation::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>, gtsam::OptionalJacobian<3, 3>) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x51537B1: gtsam::PreintegratedAhrsMeasurements::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x123721: AHRSFactorFirstOrderPreIntegratedMeasurementsTest::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x138561: TestRegistry::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x11F347: main (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141== 
==9141== Conditional jump or move depends on uninitialised value(s)
==9141==    at 0x5AABFE3: __sin_fma (s_sin.c:476)
==9141==    by 0x4FB4D44: gtsam::so3::ExpmapFunctor::init(bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB4E21: gtsam::so3::ExpmapFunctor::ExpmapFunctor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB54C3: gtsam::so3::DexpFunctor::DexpFunctor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB6547: gtsam::SO3::ExpmapDerivative(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB177C: gtsam::Rot3::ExpmapDerivative(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x5172524: gtsam::PreintegratedRotation::incrementalRotation(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>) const (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x517271A: gtsam::PreintegratedRotation::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>, gtsam::OptionalJacobian<3, 3>) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x51537B1: gtsam::PreintegratedAhrsMeasurements::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x123721: AHRSFactorFirstOrderPreIntegratedMeasurementsTest::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x138561: TestRegistry::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x11F347: main (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141== 
==9141== Conditional jump or move depends on uninitialised value(s)
==9141==    at 0x4FB4DA9: gtsam::so3::ExpmapFunctor::ExpmapFunctor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB650C: gtsam::SO3::Expmap(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, gtsam::OptionalJacobian<3, 3>) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x5172577: gtsam::PreintegratedRotation::incrementalRotation(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>) const (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x517271A: gtsam::PreintegratedRotation::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>, gtsam::OptionalJacobian<3, 3>) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x51537B1: gtsam::PreintegratedAhrsMeasurements::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x123721: AHRSFactorFirstOrderPreIntegratedMeasurementsTest::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x138561: TestRegistry::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x11F347: main (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141== 
==9141== Conditional jump or move depends on uninitialised value(s)
==9141==    at 0x4FB4CF1: gtsam::so3::ExpmapFunctor::init(bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB4E21: gtsam::so3::ExpmapFunctor::ExpmapFunctor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB650C: gtsam::SO3::Expmap(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, gtsam::OptionalJacobian<3, 3>) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x5172577: gtsam::PreintegratedRotation::incrementalRotation(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>) const (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x517271A: gtsam::PreintegratedRotation::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>, gtsam::OptionalJacobian<3, 3>) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x51537B1: gtsam::PreintegratedAhrsMeasurements::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x123721: AHRSFactorFirstOrderPreIntegratedMeasurementsTest::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x138561: TestRegistry::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x11F347: main (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141== 
==9141== Conditional jump or move depends on uninitialised value(s)
==9141==    at 0x5AABF29: __sin_fma (s_sin.c:463)
==9141==    by 0x4FB4D25: gtsam::so3::ExpmapFunctor::init(bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB4E21: gtsam::so3::ExpmapFunctor::ExpmapFunctor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB650C: gtsam::SO3::Expmap(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, gtsam::OptionalJacobian<3, 3>) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x5172577: gtsam::PreintegratedRotation::incrementalRotation(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>) const (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x517271A: gtsam::PreintegratedRotation::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>, gtsam::OptionalJacobian<3, 3>) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x51537B1: gtsam::PreintegratedAhrsMeasurements::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x123721: AHRSFactorFirstOrderPreIntegratedMeasurementsTest::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x138561: TestRegistry::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x11F347: main (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141== 
==9141== Conditional jump or move depends on uninitialised value(s)
==9141==    at 0x5AABF85: __sin_fma (s_sin.c:469)
==9141==    by 0x4FB4D25: gtsam::so3::ExpmapFunctor::init(bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB4E21: gtsam::so3::ExpmapFunctor::ExpmapFunctor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB650C: gtsam::SO3::Expmap(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, gtsam::OptionalJacobian<3, 3>) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x5172577: gtsam::PreintegratedRotation::incrementalRotation(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>) const (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x517271A: gtsam::PreintegratedRotation::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>, gtsam::OptionalJacobian<3, 3>) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x51537B1: gtsam::PreintegratedAhrsMeasurements::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x123721: AHRSFactorFirstOrderPreIntegratedMeasurementsTest::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x138561: TestRegistry::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x11F347: main (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141== 
==9141== Conditional jump or move depends on uninitialised value(s)
==9141==    at 0x5AABFE1: __sin_fma (s_sin.c:476)
==9141==    by 0x4FB4D25: gtsam::so3::ExpmapFunctor::init(bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB4E21: gtsam::so3::ExpmapFunctor::ExpmapFunctor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB650C: gtsam::SO3::Expmap(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, gtsam::OptionalJacobian<3, 3>) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x5172577: gtsam::PreintegratedRotation::incrementalRotation(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>) const (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x517271A: gtsam::PreintegratedRotation::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>, gtsam::OptionalJacobian<3, 3>) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x51537B1: gtsam::PreintegratedAhrsMeasurements::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x123721: AHRSFactorFirstOrderPreIntegratedMeasurementsTest::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x138561: TestRegistry::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x11F347: main (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141== 
==9141== Conditional jump or move depends on uninitialised value(s)
==9141==    at 0x5AABFE3: __sin_fma (s_sin.c:476)
==9141==    by 0x4FB4D25: gtsam::so3::ExpmapFunctor::init(bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB4E21: gtsam::so3::ExpmapFunctor::ExpmapFunctor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB650C: gtsam::SO3::Expmap(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, gtsam::OptionalJacobian<3, 3>) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x5172577: gtsam::PreintegratedRotation::incrementalRotation(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>) const (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x517271A: gtsam::PreintegratedRotation::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>, gtsam::OptionalJacobian<3, 3>) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x51537B1: gtsam::PreintegratedAhrsMeasurements::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x123721: AHRSFactorFirstOrderPreIntegratedMeasurementsTest::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x138561: TestRegistry::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x11F347: main (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141== 
==9141== Conditional jump or move depends on uninitialised value(s)
==9141==    at 0x5AABF29: __sin_fma (s_sin.c:463)
==9141==    by 0x4FB4D44: gtsam::so3::ExpmapFunctor::init(bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB4E21: gtsam::so3::ExpmapFunctor::ExpmapFunctor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB650C: gtsam::SO3::Expmap(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, gtsam::OptionalJacobian<3, 3>) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x5172577: gtsam::PreintegratedRotation::incrementalRotation(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>) const (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x517271A: gtsam::PreintegratedRotation::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>, gtsam::OptionalJacobian<3, 3>) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x51537B1: gtsam::PreintegratedAhrsMeasurements::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x123721: AHRSFactorFirstOrderPreIntegratedMeasurementsTest::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x138561: TestRegistry::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x11F347: main (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141== 
==9141== Conditional jump or move depends on uninitialised value(s)
==9141==    at 0x5AABF85: __sin_fma (s_sin.c:469)
==9141==    by 0x4FB4D44: gtsam::so3::ExpmapFunctor::init(bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB4E21: gtsam::so3::ExpmapFunctor::ExpmapFunctor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB650C: gtsam::SO3::Expmap(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, gtsam::OptionalJacobian<3, 3>) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x5172577: gtsam::PreintegratedRotation::incrementalRotation(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>) const (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x517271A: gtsam::PreintegratedRotation::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>, gtsam::OptionalJacobian<3, 3>) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x51537B1: gtsam::PreintegratedAhrsMeasurements::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x123721: AHRSFactorFirstOrderPreIntegratedMeasurementsTest::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x138561: TestRegistry::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x11F347: main (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141== 
==9141== Conditional jump or move depends on uninitialised value(s)
==9141==    at 0x5AABFE1: __sin_fma (s_sin.c:476)
==9141==    by 0x4FB4D44: gtsam::so3::ExpmapFunctor::init(bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB4E21: gtsam::so3::ExpmapFunctor::ExpmapFunctor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB650C: gtsam::SO3::Expmap(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, gtsam::OptionalJacobian<3, 3>) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x5172577: gtsam::PreintegratedRotation::incrementalRotation(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>) const (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x517271A: gtsam::PreintegratedRotation::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>, gtsam::OptionalJacobian<3, 3>) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x51537B1: gtsam::PreintegratedAhrsMeasurements::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x123721: AHRSFactorFirstOrderPreIntegratedMeasurementsTest::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x138561: TestRegistry::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x11F347: main (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141== 
==9141== Conditional jump or move depends on uninitialised value(s)
==9141==    at 0x5AABFE3: __sin_fma (s_sin.c:476)
==9141==    by 0x4FB4D44: gtsam::so3::ExpmapFunctor::init(bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB4E21: gtsam::so3::ExpmapFunctor::ExpmapFunctor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x4FB650C: gtsam::SO3::Expmap(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, gtsam::OptionalJacobian<3, 3>) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x5172577: gtsam::PreintegratedRotation::incrementalRotation(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>) const (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x517271A: gtsam::PreintegratedRotation::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, gtsam::OptionalJacobian<3, 3>, gtsam::OptionalJacobian<3, 3>) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x51537B1: gtsam::PreintegratedAhrsMeasurements::integrateMeasurement(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x123721: AHRSFactorFirstOrderPreIntegratedMeasurementsTest::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x138561: TestRegistry::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x11F347: main (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141== 
==9141== Conditional jump or move depends on uninitialised value(s)
==9141==    at 0x4F5711F: gtsam::assert_equal(Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, double) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x123BFF: AHRSFactorFirstOrderPreIntegratedMeasurementsTest::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x138561: TestRegistry::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x11F347: main (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141== 
==9141== Conditional jump or move depends on uninitialised value(s)
==9141==    at 0x4F57174: gtsam::assert_equal(Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, double) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x123BFF: AHRSFactorFirstOrderPreIntegratedMeasurementsTest::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x138561: TestRegistry::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x11F347: main (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141== 
==9141== Conditional jump or move depends on uninitialised value(s)
==9141==    at 0x4F57166: gtsam::assert_equal(Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, double) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/libgtsam.so.4.0.0)
==9141==    by 0x123BFF: AHRSFactorFirstOrderPreIntegratedMeasurementsTest::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x138561: TestRegistry::run(TestResult&) (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141==    by 0x11F347: main (in /home/jlblanco/code/gtsam-jlblancoc/build/gtsam/navigation/tests/testAHRSFactor)
==9141== 
There were no test failures
==9141== 
==9141== HEAP SUMMARY:
==9141==     in use at exit: 11,752 bytes in 8 blocks
==9141==   total heap usage: 4,059 allocs, 4,051 frees, 295,017 bytes allocated
==9141== 
==9141== LEAK SUMMARY:
==9141==    definitely lost: 0 bytes in 0 blocks
==9141==    indirectly lost: 0 bytes in 0 blocks
==9141==      possibly lost: 0 bytes in 0 blocks
==9141==    still reachable: 11,752 bytes in 8 blocks
==9141==                       of which reachable via heuristic:
==9141==                         newarray           : 6,168 bytes in 3 blocks
==9141==         suppressed: 0 bytes in 0 blocks
==9141== Rerun with --leak-check=full to see details of leaked memory
==9141== 
==9141== Use --track-origins=yes to see where uninitialised values come from
==9141== For lists of detected and suppressed errors, rerun with: -s
==9141== ERROR SUMMARY: 16178 errors from 23 contexts (suppressed: 0 from 0)
gtsam/navigation/tests/CMakeFiles/testAHRSFactor.run.valgrind.dir/build.make:57: recipe for target 'gtsam/navigation/tests/CMakeFiles/testAHRSFactor.run.valgrind' failed
make[3]: *** [gtsam/navigation/tests/CMakeFiles/testAHRSFactor.run.valgrind] Error 1
CMakeFiles/Makefile2:16016: recipe for target 'gtsam/navigation/tests/CMakeFiles/testAHRSFactor.run.valgrind.dir/all' failed
make[2]: *** [gtsam/navigation/tests/CMakeFiles/testAHRSFactor.run.valgrind.dir/all] Error 2
CMakeFiles/Makefile2:16023: recipe for target 'gtsam/navigation/tests/CMakeFiles/testAHRSFactor.run.valgrind.dir/rule' failed
make[1]: *** [gtsam/navigation/tests/CMakeFiles/testAHRSFactor.run.valgrind.dir/rule] Error 2
Makefile:5748: recipe for target 'testAHRSFactor.run.valgrind' failed
make: *** [testAHRSFactor.run.valgrind] Error 2