1. 3rdparty\eigen\eigen3\eigen\src\core\assignevaluator.h(833): error C2338: YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES

Eigen::Matrix3d rotation_matrix;
	rotation_matrix = yawAngle*pitchAngle*rollAngle;
	cout<< rotation_matrix<<endl;
	Eigen::Matrix4d mat4d = Eigen::Matrix4d::Identity();
	mat4d = rotation_matrix;

尝试直接把3*3矩阵赋给4*4矩阵，最坑的是这玩意儿控制台都不提示哪儿错了，只报eigen3库有错，耗费时间一点一点检查

错误原因：不同维度的矩阵运算。

2. error C2338: YOU_MIXED_VECTORS_OF_DIFFERENT_SIZES

错误原因：两个向量表达式类型不兼容（相同的固定大小或动态大小）

3.THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE

Eigen::AngleAxisd rollAngle(Eigen::AngleAxisd(temp_ea(2), Eigen::Vector4d::UnitX()));
	Eigen::AngleAxisd pitchAngle(Eigen::AngleAxisd(temp_ea(1), Eigen::Vector4d::UnitY()));
	Eigen::AngleAxisd yawAngle(Eigen::AngleAxisd(temp_ea(0), Eigen::Vector4d::UnitZ()));
	Eigen::Matrix3d rotation_matrix;
	rotation_matrix = yawAngle*pitchAngle*rollAngle;
	cout << rotation_matrix;

错误原因：这真是个傻屌错误，如果你用Eigen::Matrix3f来存储矩阵，普通运算没问题；但是你想用Eigen库里的欧拉角之类的转换函数,matrix3d就要用angleAxised，matrix3f用angleAxisef

4. error C2338: THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE

错误原因：Eigen库里的欧拉角转化，必须是double类型即Eigen:Matrix3d，用其他类型总会有莫名其妙的错误,我的就是用了Eigen:Matrix4d

剩余如下：

// This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_STATIC_ASSERT_H
 #define EIGEN_STATIC_ASSERT_H
 
 /* Some notes on Eigen's static assertion mechanism:
  *
  *  - in EIGEN_STATIC_ASSERT(CONDITION,MSG) the parameter CONDITION must be a compile time boolean
  *    expression, and MSG an enum listed in struct internal::static_assertion<true>
  *
  *  - define EIGEN_NO_STATIC_ASSERT to disable them (and save compilation time)
  *    in that case, the static assertion is converted to the following runtime assert:
  *      eigen_assert(CONDITION && "MSG")
  *
  *  - currently EIGEN_STATIC_ASSERT can only be used in function scope
  *
  */
 
 #ifndef EIGEN_STATIC_ASSERT
 #ifndef EIGEN_NO_STATIC_ASSERT
 
   #if EIGEN_MAX_CPP_VER>=11 && (__has_feature(cxx_static_assert) || (defined(__cplusplus) && __cplusplus >= 201103L) || (EIGEN_COMP_MSVC >= 1600))
 
     // if native static_assert is enabled, let's use it
     #define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
 
   #else // not CXX0X
 
     namespace Eigen {
 
     namespace internal {
 
     template<bool condition>
     struct static_assertion {};
 
     template<>
     struct static_assertion<true>
     {
       enum {
         YOU_TRIED_CALLING_A_VECTOR_METHOD_ON_A_MATRIX=1,
         YOU_MIXED_VECTORS_OF_DIFFERENT_SIZES=1,
         YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES=1,
         THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE=1,
         THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE=1,
         THIS_METHOD_IS_ONLY_FOR_OBJECTS_OF_A_SPECIFIC_SIZE=1,
         OUT_OF_RANGE_ACCESS=1,
         YOU_MADE_A_PROGRAMMING_MISTAKE=1,
         EIGEN_INTERNAL_ERROR_PLEASE_FILE_A_BUG_REPORT=1,
         EIGEN_INTERNAL_COMPILATION_ERROR_OR_YOU_MADE_A_PROGRAMMING_MISTAKE=1,
         YOU_CALLED_A_FIXED_SIZE_METHOD_ON_A_DYNAMIC_SIZE_MATRIX_OR_VECTOR=1,
         YOU_CALLED_A_DYNAMIC_SIZE_METHOD_ON_A_FIXED_SIZE_MATRIX_OR_VECTOR=1,
         UNALIGNED_LOAD_AND_STORE_OPERATIONS_UNIMPLEMENTED_ON_ALTIVEC=1,
         THIS_FUNCTION_IS_NOT_FOR_INTEGER_NUMERIC_TYPES=1,
         FLOATING_POINT_ARGUMENT_PASSED__INTEGER_WAS_EXPECTED=1,
         NUMERIC_TYPE_MUST_BE_REAL=1,
         COEFFICIENT_WRITE_ACCESS_TO_SELFADJOINT_NOT_SUPPORTED=1,
         WRITING_TO_TRIANGULAR_PART_WITH_UNIT_DIAGONAL_IS_NOT_SUPPORTED=1,
         THIS_METHOD_IS_ONLY_FOR_FIXED_SIZE=1,
         INVALID_MATRIX_PRODUCT=1,
         INVALID_VECTOR_VECTOR_PRODUCT__IF_YOU_WANTED_A_DOT_OR_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTIONS=1,
         INVALID_MATRIX_PRODUCT__IF_YOU_WANTED_A_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTION=1,
         YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY=1,
         THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES=1,
         THIS_METHOD_IS_ONLY_FOR_ROW_MAJOR_MATRICES=1,
         INVALID_MATRIX_TEMPLATE_PARAMETERS=1,
         INVALID_MATRIXBASE_TEMPLATE_PARAMETERS=1,
         BOTH_MATRICES_MUST_HAVE_THE_SAME_STORAGE_ORDER=1,
         THIS_METHOD_IS_ONLY_FOR_DIAGONAL_MATRIX=1,
         THE_MATRIX_OR_EXPRESSION_THAT_YOU_PASSED_DOES_NOT_HAVE_THE_EXPECTED_TYPE=1,
         THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_WITH_DIRECT_MEMORY_ACCESS_SUCH_AS_MAP_OR_PLAIN_MATRICES=1,
         YOU_ALREADY_SPECIFIED_THIS_STRIDE=1,
         INVALID_STORAGE_ORDER_FOR_THIS_VECTOR_EXPRESSION=1,
         THE_BRACKET_OPERATOR_IS_ONLY_FOR_VECTORS__USE_THE_PARENTHESIS_OPERATOR_INSTEAD=1,
         PACKET_ACCESS_REQUIRES_TO_HAVE_INNER_STRIDE_FIXED_TO_1=1,
         THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS=1,
         YOU_CANNOT_MIX_ARRAYS_AND_MATRICES=1,
         YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION=1,
         THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY=1,
         YOU_ARE_TRYING_TO_USE_AN_INDEX_BASED_ACCESSOR_ON_AN_EXPRESSION_THAT_DOES_NOT_SUPPORT_THAT=1,
         THIS_METHOD_IS_ONLY_FOR_1x1_EXPRESSIONS=1,
         THIS_METHOD_IS_ONLY_FOR_INNER_OR_LAZY_PRODUCTS=1,
         THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_OF_BOOL=1,
         THIS_METHOD_IS_ONLY_FOR_ARRAYS_NOT_MATRICES=1,
         YOU_PASSED_A_ROW_VECTOR_BUT_A_COLUMN_VECTOR_WAS_EXPECTED=1,
         YOU_PASSED_A_COLUMN_VECTOR_BUT_A_ROW_VECTOR_WAS_EXPECTED=1,
         THE_INDEX_TYPE_MUST_BE_A_SIGNED_TYPE=1,
         THE_STORAGE_ORDER_OF_BOTH_SIDES_MUST_MATCH=1,
         OBJECT_ALLOCATED_ON_STACK_IS_TOO_BIG=1,
         IMPLICIT_CONVERSION_TO_SCALAR_IS_FOR_INNER_PRODUCT_ONLY=1,
         STORAGE_LAYOUT_DOES_NOT_MATCH=1,
         EIGEN_INTERNAL_ERROR_PLEASE_FILE_A_BUG_REPORT__INVALID_COST_VALUE=1,
         THIS_COEFFICIENT_ACCESSOR_TAKING_ONE_ACCESS_IS_ONLY_FOR_EXPRESSIONS_ALLOWING_LINEAR_ACCESS=1,
         MATRIX_FREE_CONJUGATE_GRADIENT_IS_COMPATIBLE_WITH_UPPER_UNION_LOWER_MODE_ONLY=1,
         THIS_TYPE_IS_NOT_SUPPORTED=1,
         STORAGE_KIND_MUST_MATCH=1,
         STORAGE_INDEX_MUST_MATCH=1,
         CHOLMOD_SUPPORTS_DOUBLE_PRECISION_ONLY=1,
         SELFADJOINTVIEW_ACCEPTS_UPPER_AND_LOWER_MODE_ONLY=1
       };
     };
 
     } // end namespace internal
 
     } // end namespace Eigen
 
     // Specialized implementation for MSVC to avoid "conditional
     // expression is constant" warnings.  This implementation doesn't
     // appear to work under GCC, hence the multiple implementations.
     #if EIGEN_COMP_MSVC
 
       #define EIGEN_STATIC_ASSERT(CONDITION,MSG) \
         {Eigen::internal::static_assertion<bool(CONDITION)>::MSG;}
 
     #else
       // In some cases clang interprets bool(CONDITION) as function declaration
       #define EIGEN_STATIC_ASSERT(CONDITION,MSG) \
         if (Eigen::internal::static_assertion<static_cast<bool>(CONDITION)>::MSG) {}
 
     #endif
 
   #endif // not CXX0X
 
 #else // EIGEN_NO_STATIC_ASSERT
 
   #define EIGEN_STATIC_ASSERT(CONDITION,MSG) eigen_assert((CONDITION) && #MSG);
 
 #endif // EIGEN_NO_STATIC_ASSERT
 #endif // EIGEN_STATIC_ASSERT
 
 // static assertion failing if the type \a TYPE is not a vector type
 #define EIGEN_STATIC_ASSERT_VECTOR_ONLY(TYPE) \
   EIGEN_STATIC_ASSERT(TYPE::IsVectorAtCompileTime, \
                       YOU_TRIED_CALLING_A_VECTOR_METHOD_ON_A_MATRIX)
 
 // static assertion failing if the type \a TYPE is not fixed-size
 #define EIGEN_STATIC_ASSERT_FIXED_SIZE(TYPE) \
   EIGEN_STATIC_ASSERT(TYPE::SizeAtCompileTime!=Eigen::Dynamic, \
                       YOU_CALLED_A_FIXED_SIZE_METHOD_ON_A_DYNAMIC_SIZE_MATRIX_OR_VECTOR)
 
 // static assertion failing if the type \a TYPE is not dynamic-size
 #define EIGEN_STATIC_ASSERT_DYNAMIC_SIZE(TYPE) \
   EIGEN_STATIC_ASSERT(TYPE::SizeAtCompileTime==Eigen::Dynamic, \
                       YOU_CALLED_A_DYNAMIC_SIZE_METHOD_ON_A_FIXED_SIZE_MATRIX_OR_VECTOR)
 
 // static assertion failing if the type \a TYPE is not a vector type of the given size
 #define EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(TYPE, SIZE) \
   EIGEN_STATIC_ASSERT(TYPE::IsVectorAtCompileTime && TYPE::SizeAtCompileTime==SIZE, \
                       THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE)
 
 // static assertion failing if the type \a TYPE is not a vector type of the given size
 #define EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(TYPE, ROWS, COLS) \
   EIGEN_STATIC_ASSERT(TYPE::RowsAtCompileTime==ROWS && TYPE::ColsAtCompileTime==COLS, \
                       THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE)
 
 // static assertion failing if the two vector expression types are not compatible (same fixed-size or dynamic size)
 #define EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(TYPE0,TYPE1) \
   EIGEN_STATIC_ASSERT( \
       (int(TYPE0::SizeAtCompileTime)==Eigen::Dynamic \
     || int(TYPE1::SizeAtCompileTime)==Eigen::Dynamic \
     || int(TYPE0::SizeAtCompileTime)==int(TYPE1::SizeAtCompileTime)),\
     YOU_MIXED_VECTORS_OF_DIFFERENT_SIZES)
 
 #define EIGEN_PREDICATE_SAME_MATRIX_SIZE(TYPE0,TYPE1) \
      ( \
         (int(Eigen::internal::size_of_xpr_at_compile_time<TYPE0>::ret)==0 && int(Eigen::internal::size_of_xpr_at_compile_time<TYPE1>::ret)==0) \
     || (\
           (int(TYPE0::RowsAtCompileTime)==Eigen::Dynamic \
         || int(TYPE1::RowsAtCompileTime)==Eigen::Dynamic \
         || int(TYPE0::RowsAtCompileTime)==int(TYPE1::RowsAtCompileTime)) \
       &&  (int(TYPE0::ColsAtCompileTime)==Eigen::Dynamic \
         || int(TYPE1::ColsAtCompileTime)==Eigen::Dynamic \
         || int(TYPE0::ColsAtCompileTime)==int(TYPE1::ColsAtCompileTime))\
        ) \
      )
 
 #define EIGEN_STATIC_ASSERT_NON_INTEGER(TYPE) \
     EIGEN_STATIC_ASSERT(!NumTraits<TYPE>::IsInteger, THIS_FUNCTION_IS_NOT_FOR_INTEGER_NUMERIC_TYPES)
 
 
 // static assertion failing if it is guaranteed at compile-time that the two matrix expression types have different sizes
 #define EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(TYPE0,TYPE1) \
   EIGEN_STATIC_ASSERT( \
      EIGEN_PREDICATE_SAME_MATRIX_SIZE(TYPE0,TYPE1),\
     YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES)
 
 #define EIGEN_STATIC_ASSERT_SIZE_1x1(TYPE) \
       EIGEN_STATIC_ASSERT((TYPE::RowsAtCompileTime == 1 || TYPE::RowsAtCompileTime == Dynamic) && \
                           (TYPE::ColsAtCompileTime == 1 || TYPE::ColsAtCompileTime == Dynamic), \
                           THIS_METHOD_IS_ONLY_FOR_1x1_EXPRESSIONS)
 
 #define EIGEN_STATIC_ASSERT_LVALUE(Derived) \
       EIGEN_STATIC_ASSERT(Eigen::internal::is_lvalue<Derived>::value, \
                           THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY)
 
 #define EIGEN_STATIC_ASSERT_ARRAYXPR(Derived) \
       EIGEN_STATIC_ASSERT((Eigen::internal::is_same<typename Eigen::internal::traits<Derived>::XprKind, ArrayXpr>::value), \
                           THIS_METHOD_IS_ONLY_FOR_ARRAYS_NOT_MATRICES)
 
 #define EIGEN_STATIC_ASSERT_SAME_XPR_KIND(Derived1, Derived2) \
       EIGEN_STATIC_ASSERT((Eigen::internal::is_same<typename Eigen::internal::traits<Derived1>::XprKind, \
                                              typename Eigen::internal::traits<Derived2>::XprKind \
                                             >::value), \
                           YOU_CANNOT_MIX_ARRAYS_AND_MATRICES)
 
 // Check that a cost value is positive, and that is stay within a reasonable range
 // TODO this check could be enabled for internal debugging only
 #define EIGEN_INTERNAL_CHECK_COST_VALUE(C) \
       EIGEN_STATIC_ASSERT((C)>=0 && (C)<=HugeCost*HugeCost, EIGEN_INTERNAL_ERROR_PLEASE_FILE_A_BUG_REPORT__INVALID_COST_VALUE);
 
 #endif // EIGEN_STATIC_ASSERT_H

来源：StaticAssert.h