lots of errors 

i followed the exact tutorials but i'm receiving the following errors,any help would highly be appreciated . 


[  8%] Generating dynamic reconfigure files from cfg/Controller.cfg: /home/ros/catkin_ws/devel/include/roscopter/ControllerConfig.h /home/ros/catkin_ws/devel/lib/python2.7/dist-packages/roscopter/cfg/ControllerConfig.py
Scanning dependencies of target ekf
Traceback (most recent call last):
  File "/home/ros/catkin_ws/src/roscopter/roscopter/cfg/Controller.cfg", line 4, in <module>
    from dynamic_reconfigure.parameter_generator_catkin import *
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/__init__.py", line 38, in <module>
    import roslib
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslib/__init__.py", line 50, in <module>
    from roslib.launcher import load_manifest
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslib/launcher.py", line 42, in <module>
    import rospkg
ImportError: No module named rospkg
roscopter/roscopter/CMakeFiles/roscopter_gencfg.dir/build.make:63: recipe for target '/home/ros/catkin_ws/devel/include/roscopter/ControllerConfig.h' failed
make[2]: *** [/home/ros/catkin_ws/devel/include/roscopter/ControllerConfig.h] Error 1
CMakeFiles/Makefile2:6656: recipe for target 'roscopter/roscopter/CMakeFiles/roscopter_gencfg.dir/all' failed
make[1]: *** [roscopter/roscopter/CMakeFiles/roscopter_gencfg.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[  9%] Generating Python code from SRV roscopter_msgs/SetWaypointsFromFile
[ 10%] Building CXX object roscopter/roscopter/CMakeFiles/ekf.dir/src/ekf/state.cpp.o
[ 10%] Generating Python code from SRV roscopter_msgs/RemoveWaypoint
[ 10%] Building CXX object roscopter/roscopter/CMakeFiles/ekf.dir/src/ekf/dynamics.cpp.o
[ 11%] Generating Python srv __init__.py for roscopter_msgs
[ 12%] Generating C++ code from roscopter_msgs/SetWaypointsFromFile.srv
[ 12%] Built target roscopter_msgs_generate_messages_py
[ 12%] Generating C++ code from roscopter_msgs/RemoveWaypoint.srv
[ 13%] Building CXX object roscopter/roscopter/CMakeFiles/ekf.dir/src/ekf/ekf.cpp.o
[ 13%] Built target roscopter_msgs_generate_messages_cpp
[ 14%] Building CXX object roscopter/roscopter/CMakeFiles/ekf.dir/src/ekf/meas.cpp.o
In file included from /usr/include/c++/5/random:35:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:3,
                 from /home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:8,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/state.h:4,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/state.cpp:1:
/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/include/c++/5/random:35:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:3,
                 from /home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:8,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/meas.h:8,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/meas.cpp:1:
/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/include/c++/5/random:35:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:3,
                 from /home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:8,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:7,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/dynamics.cpp:1:
/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/include/c++/5/random:35:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:3,
                 from /home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:8,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:7,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:1:
/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 /home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:8:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/meas.h:8,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/meas.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:28:1: warning: lambda expressions only available with -std=c++11 or -std=gnu++11
 }();
 ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:8:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/state.h:4,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/state.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:28:1: warning: lambda expressions only available with -std=c++11 or -std=gnu++11
 }();
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:33:1: warning: lambda expressions only available with -std=c++11 or -std=gnu++11
 }();
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:33:1: warning: lambda expressions only available with -std=c++11 or -std=gnu++11
 }();
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:38:1: warning: lambda expressions only available with -std=c++11 or -std=gnu++11
 }();
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:38:1: warning: lambda expressions only available with -std=c++11 or -std=gnu++11
 }();
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:45:1: warning: lambda expressions only available with -std=c++11 or -std=gnu++11
 }();
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:51:1: warning: lambda expressions only available with -std=c++11 or -std=gnu++11
 }();
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:57:1: warning: lambda expressions only available with -std=c++11 or -std=gnu++11
 }();
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:71:58: error: ‘std::normal_distribution’ has not been declared
 void setNormalRandom(Eigen::MatrixBase<Derived>& M, std::normal_distribution<double>& N, std::default_random_engine& g)
                                                          ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:71:77: error: expected ‘,’ or ‘...’ before ‘<’ token
 void setNormalRandom(Eigen::MatrixBase<Derived>& M, std::normal_distribution<double>& N, std::default_random_engine& g)
                                                                             ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h: In function ‘void setNormalRandom(Eigen::MatrixBase<Derived>&, int)’:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:77:18: error: ‘g’ was not declared in this scope
       M(i,j) = N(g);
                  ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:77:19: error: there are no arguments to ‘N’ that depend on a template parameter, so a declaration of ‘N’ must be available [-fpermissive]
       M(i,j) = N(g);
                   ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:77:19: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated)
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h: At global scope:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:83:22: error: ‘normal_distribution’ is not a member of ‘std’
 Derived randomNormal(std::normal_distribution<typename Derived::Scalar>& N, std::default_random_engine& g)
                      ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:83:71: error: expected ‘(’ before ‘>’ token
 Derived randomNormal(std::normal_distribution<typename Derived::Scalar>& N, std::default_random_engine& g)
                                                                       ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:83:74: error: ‘N’ was not declared in this scope
 Derived randomNormal(std::normal_distribution<typename Derived::Scalar>& N, std::default_random_engine& g)
                                                                          ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:83:77: error: ‘default_random_engine’ is not a member of ‘std’
 Derived randomNormal(std::normal_distribution<typename Derived::Scalar>& N, std::default_random_engine& g)
                                                                             ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:83:105: error: ‘g’ was not declared in this scope
 Derived randomNormal(std::normal_distribution<typename Derived::Scalar>& N, std::default_random_engine& g)
                                                                                                         ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:83:9: warning: variable templates only available with -std=c++14 or -std=gnu++14
 Derived randomNormal(std::normal_distribution<typename Derived::Scalar>& N, std::default_random_engine& g)
         ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:84:1: error: expected ‘;’ before ‘{’ token
 {
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:97:38: error: ‘uniform_real_distribution’ is not a member of ‘std’
 Eigen::Matrix<T, R, C> randomUniform(std::uniform_real_distribution<T>& N, std::default_random_engine& g)
                                      ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:97:70: error: expected primary-expression before ‘>’ token
 Eigen::Matrix<T, R, C> randomUniform(std::uniform_real_distribution<T>& N, std::default_random_engine& g)
                                                                      ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:97:73: error: ‘N’ was not declared in this scope
 Eigen::Matrix<T, R, C> randomUniform(std::uniform_real_distribution<T>& N, std::default_random_engine& g)
                                                                         ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:97:76: error: ‘default_random_engine’ is not a member of ‘std’
 Eigen::Matrix<T, R, C> randomUniform(std::uniform_real_distribution<T>& N, std::default_random_engine& g)
                                                                            ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:97:104: error: ‘g’ was not declared in this scope
 Eigen::Matrix<T, R, C> randomUniform(std::uniform_real_distribution<T>& N, std::default_random_engine& g)
                                                                                                        ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:97:24: warning: variable templates only available with -std=c++14 or -std=gnu++14
 Eigen::Matrix<T, R, C> randomUniform(std::uniform_real_distribution<T>& N, std::default_random_engine& g)
                        ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:98:1: error: expected ‘;’ before ‘{’ token
 {
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:45:1: warning: lambda expressions only available with -std=c++11 or -std=gnu++11
 }();
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:51:1: warning: lambda expressions only available with -std=c++11 or -std=gnu++11
 }();
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:57:1: warning: lambda expressions only available with -std=c++11 or -std=gnu++11
 }();
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:71:58: error: ‘std::normal_distribution’ has not been declared
 void setNormalRandom(Eigen::MatrixBase<Derived>& M, std::normal_distribution<double>& N, std::default_random_engine& g)
                                                          ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:71:77: error: expected ‘,’ or ‘...’ before ‘<’ token
 void setNormalRandom(Eigen::MatrixBase<Derived>& M, std::normal_distribution<double>& N, std::default_random_engine& g)
                                                                             ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h: In function ‘void setNormalRandom(Eigen::MatrixBase<Derived>&, int)’:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:77:18: error: ‘g’ was not declared in this scope
       M(i,j) = N(g);
                  ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:77:19: error: there are no arguments to ‘N’ that depend on a template parameter, so a declaration of ‘N’ must be available [-fpermissive]
       M(i,j) = N(g);
                   ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:77:19: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated)
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h: At global scope:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:83:22: error: ‘normal_distribution’ is not a member of ‘std’
 Derived randomNormal(std::normal_distribution<typename Derived::Scalar>& N, std::default_random_engine& g)
                      ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:83:71: error: expected ‘(’ before ‘>’ token
 Derived randomNormal(std::normal_distribution<typename Derived::Scalar>& N, std::default_random_engine& g)
                                                                       ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:83:74: error: ‘N’ was not declared in this scope
 Derived randomNormal(std::normal_distribution<typename Derived::Scalar>& N, std::default_random_engine& g)
                                                                          ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:83:77: error: ‘default_random_engine’ is not a member of ‘std’
 Derived randomNormal(std::normal_distribution<typename Derived::Scalar>& N, std::default_random_engine& g)
                                                                             ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:83:105: error: ‘g’ was not declared in this scope
 Derived randomNormal(std::normal_distribution<typename Derived::Scalar>& N, std::default_random_engine& g)
                                                                                                         ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:83:9: warning: variable templates only available with -std=c++14 or -std=gnu++14
 Derived randomNormal(std::normal_distribution<typename Derived::Scalar>& N, std::default_random_engine& g)
         ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:84:1: error: expected ‘;’ before ‘{’ token
 {
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:97:38: error: ‘uniform_real_distribution’ is not a member of ‘std’
 Eigen::Matrix<T, R, C> randomUniform(std::uniform_real_distribution<T>& N, std::default_random_engine& g)
                                      ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:97:70: error: expected primary-expression before ‘>’ token
 Eigen::Matrix<T, R, C> randomUniform(std::uniform_real_distribution<T>& N, std::default_random_engine& g)
                                                                      ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:97:73: error: ‘N’ was not declared in this scope
 Eigen::Matrix<T, R, C> randomUniform(std::uniform_real_distribution<T>& N, std::default_random_engine& g)
                                                                         ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:97:76: error: ‘default_random_engine’ is not a member of ‘std’
 Eigen::Matrix<T, R, C> randomUniform(std::uniform_real_distribution<T>& N, std::default_random_engine& g)
                                                                            ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:97:104: error: ‘g’ was not declared in this scope
 Eigen::Matrix<T, R, C> randomUniform(std::uniform_real_distribution<T>& N, std::default_random_engine& g)
                                                                                                        ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:97:24: warning: variable templates only available with -std=c++14 or -std=gnu++14
 Eigen::Matrix<T, R, C> randomUniform(std::uniform_real_distribution<T>& N, std::default_random_engine& g)
                        ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:98:1: error: expected ‘;’ before ‘{’ token
 {
 ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:9:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/meas.h:8,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/meas.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:13:1: warning: lambda expressions only available with -std=c++11 or -std=gnu++11
 }();
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:19:1: warning: lambda expressions only available with -std=c++11 or -std=gnu++11
 }();
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:365:52: error: no default argument for ‘Derived’
   Eigen::Matrix<Tout, 3, 1> rota(const Derived& v) const
                                                    ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:365:52: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:383:52: error: no default argument for ‘Derived’
   Eigen::Matrix<Tout, 3, 1> rotp(const Derived& v) const
                                                    ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:383:52: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:433:40: error: no default argument for ‘T2’
   Quat<Tout> otimes(const Quat<T2>& q) const
                                        ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:433:40: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:444:60: error: no default argument for ‘T2’
   Quat<Tout> boxplus(const Eigen::Matrix<T2, 3, 1>& delta) const
                                                            ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:444:60: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:450:57: error: no default argument for ‘T2’
   Eigen::Matrix<Tout, 3, 1> boxminus(const Quat<T2> &q) const
                                                         ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:450:57: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/meas.h:8:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/meas.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:254:43: error: no default argument for ‘T2’
   Xform<Tout> otimes(const Xform<T2>& X2) const
                                           ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:254:43: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:264:58: error: no default argument for ‘Derived’
   Eigen::Matrix<Tout, 3, 1> transforma(const Derived& v) const
                                                          ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:264:58: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:277:58: error: no default argument for ‘Derived’
   Eigen::Matrix<Tout, 3, 1> transformp(const Derived& v) const
                                                          ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:277:58: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:288:52: error: no default argument for ‘Derived’
   Eigen::Matrix<Tout, 3, 1> rota(const Derived& v) const
                                                    ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:288:52: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:294:52: error: no default argument for ‘Derived’
   Eigen::Matrix<Tout, 3, 1> rotp(const Derived& v) const
                                                    ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:294:52: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:307:61: error: no default argument for ‘T2’
   Xform<Tout> boxplus(const Eigen::Matrix<T2, 6, 1>& delta) const
                                                             ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:307:61: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/meas.cpp:1:0:
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/meas.h:22:23: warning: defaulted and deleted functions only available with -std=c++11 or -std=gnu++11
     virtual ~Base() = default;
                       ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/meas.h:39:36: error: ‘function’ is not a member of ‘std’
 typedef std::multiset<meas::Base*, std::function<bool(const meas::Base*, const meas::Base*)>> MeasSet;
                                    ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/meas.h:39:36: error: ‘function’ is not a member of ‘std’
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/meas.h:39:91: error: expression list treated as compound expression in functional cast [-fpermissive]
 typedef std::multiset<meas::Base*, std::function<bool(const meas::Base*, const meas::Base*)>> MeasSet;
                                                                                           ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/meas.h:39:95: error: template argument 2 is invalid
 typedef std::multiset<meas::Base*, std::function<bool(const meas::Base*, const meas::Base*)>> MeasSet;
                                                                                               ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/meas.h:39:14: warning: ‘typedef’ was ignored in this declaration
 typedef std::multiset<meas::Base*, std::function<bool(const meas::Base*, const meas::Base*)>> MeasSet;
              ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:9:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/state.h:4,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/state.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:13:1: warning: lambda expressions only available with -std=c++11 or -std=gnu++11
 }();
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:19:1: warning: lambda expressions only available with -std=c++11 or -std=gnu++11
 }();
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:365:52: error: no default argument for ‘Derived’
   Eigen::Matrix<Tout, 3, 1> rota(const Derived& v) const
                                                    ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:365:52: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:383:52: error: no default argument for ‘Derived’
   Eigen::Matrix<Tout, 3, 1> rotp(const Derived& v) const
                                                    ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:383:52: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:433:40: error: no default argument for ‘T2’
   Quat<Tout> otimes(const Quat<T2>& q) const
                                        ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:433:40: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:444:60: error: no default argument for ‘T2’
   Quat<Tout> boxplus(const Eigen::Matrix<T2, 3, 1>& delta) const
                                                            ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:444:60: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:450:57: error: no default argument for ‘T2’
   Eigen::Matrix<Tout, 3, 1> boxminus(const Quat<T2> &q) const
                                                         ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:450:57: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/state.h:4:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/state.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:254:43: error: no default argument for ‘T2’
   Xform<Tout> otimes(const Xform<T2>& X2) const
                                           ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:254:43: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:264:58: error: no default argument for ‘Derived’
   Eigen::Matrix<Tout, 3, 1> transforma(const Derived& v) const
                                                          ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:264:58: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:277:58: error: no default argument for ‘Derived’
   Eigen::Matrix<Tout, 3, 1> transformp(const Derived& v) const
                                                          ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:277:58: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:288:52: error: no default argument for ‘Derived’
   Eigen::Matrix<Tout, 3, 1> rota(const Derived& v) const
                                                    ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:288:52: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:294:52: error: no default argument for ‘Derived’
   Eigen::Matrix<Tout, 3, 1> rotp(const Derived& v) const
                                                    ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:294:52: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:307:61: error: no default argument for ‘T2’
   Xform<Tout> boxplus(const Eigen::Matrix<T2, 6, 1>& delta) const
                                                             ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:307:61: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/meas.cpp:3:20: error: expected ‘{’ before ‘::’ token
 namespace roscopter::ekf::meas
                    ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/meas.cpp:3:22: error: ‘ekf’ in namespace ‘::’ does not name a type
 namespace roscopter::ekf::meas
                      ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/meas.cpp:95:1: error: expected ‘}’ at end of input
 }
 ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/state.cpp:1:0:
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/state.h:151:10: error: ‘vector’ in namespace ‘std’ does not name a template type
     std::vector<Snapshot, Eigen::aligned_allocator<Snapshot>> buf; // circular buffer
          ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/state.cpp:8:20: error: expected ‘{’ before ‘::’ token
 namespace roscopter::ekf
                    ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/state.cpp:8:22: error: ‘ekf’ in namespace ‘::’ does not name a type
 namespace roscopter::ekf
                      ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/state.cpp:271:1: error: expected ‘}’ at end of input
 }
 ^
roscopter/roscopter/CMakeFiles/ekf.dir/build.make:134: recipe for target 'roscopter/roscopter/CMakeFiles/ekf.dir/src/ekf/meas.cpp.o' failed
make[2]: *** [roscopter/roscopter/CMakeFiles/ekf.dir/src/ekf/meas.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
roscopter/roscopter/CMakeFiles/ekf.dir/build.make:62: recipe for target 'roscopter/roscopter/CMakeFiles/ekf.dir/src/ekf/state.cpp.o' failed
make[2]: *** [roscopter/roscopter/CMakeFiles/ekf.dir/src/ekf/state.cpp.o] Error 1
In file included from /home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:8:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:7,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:28:1: warning: lambda expressions only available with -std=c++11 or -std=gnu++11
 }();
 ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:8:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:7,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/dynamics.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:28:1: warning: lambda expressions only available with -std=c++11 or -std=gnu++11
 }();
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:33:1: warning: lambda expressions only available with -std=c++11 or -std=gnu++11
 }();
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:33:1: warning: lambda expressions only available with -std=c++11 or -std=gnu++11
 }();
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:38:1: warning: lambda expressions only available with -std=c++11 or -std=gnu++11
 }();
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:38:1: warning: lambda expressions only available with -std=c++11 or -std=gnu++11
 }();
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:45:1: warning: lambda expressions only available with -std=c++11 or -std=gnu++11
 }();
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:51:1: warning: lambda expressions only available with -std=c++11 or -std=gnu++11
 }();
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:57:1: warning: lambda expressions only available with -std=c++11 or -std=gnu++11
 }();
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:71:58: error: ‘std::normal_distribution’ has not been declared
 void setNormalRandom(Eigen::MatrixBase<Derived>& M, std::normal_distribution<double>& N, std::default_random_engine& g)
                                                          ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:71:77: error: expected ‘,’ or ‘...’ before ‘<’ token
 void setNormalRandom(Eigen::MatrixBase<Derived>& M, std::normal_distribution<double>& N, std::default_random_engine& g)
                                                                             ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h: In function ‘void setNormalRandom(Eigen::MatrixBase<Derived>&, int)’:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:77:18: error: ‘g’ was not declared in this scope
       M(i,j) = N(g);
                  ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:77:19: error: there are no arguments to ‘N’ that depend on a template parameter, so a declaration of ‘N’ must be available [-fpermissive]
       M(i,j) = N(g);
                   ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:77:19: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated)
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h: At global scope:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:83:22: error: ‘normal_distribution’ is not a member of ‘std’
 Derived randomNormal(std::normal_distribution<typename Derived::Scalar>& N, std::default_random_engine& g)
                      ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:83:71: error: expected ‘(’ before ‘>’ token
 Derived randomNormal(std::normal_distribution<typename Derived::Scalar>& N, std::default_random_engine& g)
                                                                       ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:83:74: error: ‘N’ was not declared in this scope
 Derived randomNormal(std::normal_distribution<typename Derived::Scalar>& N, std::default_random_engine& g)
                                                                          ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:83:77: error: ‘default_random_engine’ is not a member of ‘std’
 Derived randomNormal(std::normal_distribution<typename Derived::Scalar>& N, std::default_random_engine& g)
                                                                             ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:83:105: error: ‘g’ was not declared in this scope
 Derived randomNormal(std::normal_distribution<typename Derived::Scalar>& N, std::default_random_engine& g)
                                                                                                         ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:83:9: warning: variable templates only available with -std=c++14 or -std=gnu++14
 Derived randomNormal(std::normal_distribution<typename Derived::Scalar>& N, std::default_random_engine& g)
         ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:84:1: error: expected ‘;’ before ‘{’ token
 {
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:97:38: error: ‘uniform_real_distribution’ is not a member of ‘std’
 Eigen::Matrix<T, R, C> randomUniform(std::uniform_real_distribution<T>& N, std::default_random_engine& g)
                                      ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:97:70: error: expected primary-expression before ‘>’ token
 Eigen::Matrix<T, R, C> randomUniform(std::uniform_real_distribution<T>& N, std::default_random_engine& g)
                                                                      ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:97:73: error: ‘N’ was not declared in this scope
 Eigen::Matrix<T, R, C> randomUniform(std::uniform_real_distribution<T>& N, std::default_random_engine& g)
                                                                         ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:97:76: error: ‘default_random_engine’ is not a member of ‘std’
 Eigen::Matrix<T, R, C> randomUniform(std::uniform_real_distribution<T>& N, std::default_random_engine& g)
                                                                            ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:97:104: error: ‘g’ was not declared in this scope
 Eigen::Matrix<T, R, C> randomUniform(std::uniform_real_distribution<T>& N, std::default_random_engine& g)
                                                                                                        ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:97:24: warning: variable templates only available with -std=c++14 or -std=gnu++14
 Eigen::Matrix<T, R, C> randomUniform(std::uniform_real_distribution<T>& N, std::default_random_engine& g)
                        ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:98:1: error: expected ‘;’ before ‘{’ token
 {
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:45:1: warning: lambda expressions only available with -std=c++11 or -std=gnu++11
 }();
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:51:1: warning: lambda expressions only available with -std=c++11 or -std=gnu++11
 }();
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:57:1: warning: lambda expressions only available with -std=c++11 or -std=gnu++11
 }();
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:71:58: error: ‘std::normal_distribution’ has not been declared
 void setNormalRandom(Eigen::MatrixBase<Derived>& M, std::normal_distribution<double>& N, std::default_random_engine& g)
                                                          ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:71:77: error: expected ‘,’ or ‘...’ before ‘<’ token
 void setNormalRandom(Eigen::MatrixBase<Derived>& M, std::normal_distribution<double>& N, std::default_random_engine& g)
                                                                             ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h: In function ‘void setNormalRandom(Eigen::MatrixBase<Derived>&, int)’:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:77:18: error: ‘g’ was not declared in this scope
       M(i,j) = N(g);
                  ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:77:19: error: there are no arguments to ‘N’ that depend on a template parameter, so a declaration of ‘N’ must be available [-fpermissive]
       M(i,j) = N(g);
                   ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:77:19: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated)
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h: At global scope:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:83:22: error: ‘normal_distribution’ is not a member of ‘std’
 Derived randomNormal(std::normal_distribution<typename Derived::Scalar>& N, std::default_random_engine& g)
                      ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:83:71: error: expected ‘(’ before ‘>’ token
 Derived randomNormal(std::normal_distribution<typename Derived::Scalar>& N, std::default_random_engine& g)
                                                                       ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:83:74: error: ‘N’ was not declared in this scope
 Derived randomNormal(std::normal_distribution<typename Derived::Scalar>& N, std::default_random_engine& g)
                                                                          ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:83:77: error: ‘default_random_engine’ is not a member of ‘std’
 Derived randomNormal(std::normal_distribution<typename Derived::Scalar>& N, std::default_random_engine& g)
                                                                             ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:83:105: error: ‘g’ was not declared in this scope
 Derived randomNormal(std::normal_distribution<typename Derived::Scalar>& N, std::default_random_engine& g)
                                                                                                         ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:83:9: warning: variable templates only available with -std=c++14 or -std=gnu++14
 Derived randomNormal(std::normal_distribution<typename Derived::Scalar>& N, std::default_random_engine& g)
         ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:84:1: error: expected ‘;’ before ‘{’ token
 {
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:97:38: error: ‘uniform_real_distribution’ is not a member of ‘std’
 Eigen::Matrix<T, R, C> randomUniform(std::uniform_real_distribution<T>& N, std::default_random_engine& g)
                                      ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:97:70: error: expected primary-expression before ‘>’ token
 Eigen::Matrix<T, R, C> randomUniform(std::uniform_real_distribution<T>& N, std::default_random_engine& g)
                                                                      ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:97:73: error: ‘N’ was not declared in this scope
 Eigen::Matrix<T, R, C> randomUniform(std::uniform_real_distribution<T>& N, std::default_random_engine& g)
                                                                         ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:97:76: error: ‘default_random_engine’ is not a member of ‘std’
 Eigen::Matrix<T, R, C> randomUniform(std::uniform_real_distribution<T>& N, std::default_random_engine& g)
                                                                            ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:97:104: error: ‘g’ was not declared in this scope
 Eigen::Matrix<T, R, C> randomUniform(std::uniform_real_distribution<T>& N, std::default_random_engine& g)
                                                                                                        ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:97:24: warning: variable templates only available with -std=c++14 or -std=gnu++14
 Eigen::Matrix<T, R, C> randomUniform(std::uniform_real_distribution<T>& N, std::default_random_engine& g)
                        ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/support.h:98:1: error: expected ‘;’ before ‘{’ token
 {
 ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:9:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:7,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:13:1: warning: lambda expressions only available with -std=c++11 or -std=gnu++11
 }();
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:19:1: warning: lambda expressions only available with -std=c++11 or -std=gnu++11
 }();
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:365:52: error: no default argument for ‘Derived’
   Eigen::Matrix<Tout, 3, 1> rota(const Derived& v) const
                                                    ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:365:52: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:383:52: error: no default argument for ‘Derived’
   Eigen::Matrix<Tout, 3, 1> rotp(const Derived& v) const
                                                    ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:383:52: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:433:40: error: no default argument for ‘T2’
   Quat<Tout> otimes(const Quat<T2>& q) const
                                        ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:433:40: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:444:60: error: no default argument for ‘T2’
   Quat<Tout> boxplus(const Eigen::Matrix<T2, 3, 1>& delta) const
                                                            ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:444:60: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:450:57: error: no default argument for ‘T2’
   Eigen::Matrix<Tout, 3, 1> boxminus(const Quat<T2> &q) const
                                                         ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:450:57: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
In file included from /home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:9:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:7,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/dynamics.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:13:1: warning: lambda expressions only available with -std=c++11 or -std=gnu++11
 }();
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:19:1: warning: lambda expressions only available with -std=c++11 or -std=gnu++11
 }();
 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:365:52: error: no default argument for ‘Derived’
   Eigen::Matrix<Tout, 3, 1> rota(const Derived& v) const
                                                    ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:365:52: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:383:52: error: no default argument for ‘Derived’
   Eigen::Matrix<Tout, 3, 1> rotp(const Derived& v) const
                                                    ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:383:52: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:433:40: error: no default argument for ‘T2’
   Quat<Tout> otimes(const Quat<T2>& q) const
                                        ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:433:40: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:444:60: error: no default argument for ‘T2’
   Quat<Tout> boxplus(const Eigen::Matrix<T2, 3, 1>& delta) const
                                                            ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:444:60: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:450:57: error: no default argument for ‘T2’
   Eigen::Matrix<Tout, 3, 1> boxminus(const Quat<T2> &q) const
                                                         ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:450:57: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:7:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:254:43: error: no default argument for ‘T2’
   Xform<Tout> otimes(const Xform<T2>& X2) const
                                           ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:254:43: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:264:58: error: no default argument for ‘Derived’
   Eigen::Matrix<Tout, 3, 1> transforma(const Derived& v) const
                                                          ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:264:58: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:277:58: error: no default argument for ‘Derived’
   Eigen::Matrix<Tout, 3, 1> transformp(const Derived& v) const
                                                          ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:277:58: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:288:52: error: no default argument for ‘Derived’
   Eigen::Matrix<Tout, 3, 1> rota(const Derived& v) const
                                                    ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:288:52: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:294:52: error: no default argument for ‘Derived’
   Eigen::Matrix<Tout, 3, 1> rotp(const Derived& v) const
                                                    ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:294:52: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:307:61: error: no default argument for ‘T2’
   Xform<Tout> boxplus(const Eigen::Matrix<T2, 6, 1>& delta) const
                                                             ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:307:61: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:7:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/dynamics.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:254:43: error: no default argument for ‘T2’
   Xform<Tout> otimes(const Xform<T2>& X2) const
                                           ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:254:43: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:264:58: error: no default argument for ‘Derived’
   Eigen::Matrix<Tout, 3, 1> transforma(const Derived& v) const
                                                          ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:264:58: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:277:58: error: no default argument for ‘Derived’
   Eigen::Matrix<Tout, 3, 1> transformp(const Derived& v) const
                                                          ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:277:58: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:288:52: error: no default argument for ‘Derived’
   Eigen::Matrix<Tout, 3, 1> rota(const Derived& v) const
                                                    ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:288:52: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:294:52: error: no default argument for ‘Derived’
   Eigen::Matrix<Tout, 3, 1> rotp(const Derived& v) const
                                                    ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:294:52: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:307:61: error: no default argument for ‘T2’
   Xform<Tout> boxplus(const Eigen::Matrix<T2, 6, 1>& delta) const
                                                             ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:307:61: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:9:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/state.h:151:10: error: ‘vector’ in namespace ‘std’ does not name a template type
     std::vector<Snapshot, Eigen::aligned_allocator<Snapshot>> buf; // circular buffer
          ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:9:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/dynamics.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/state.h:151:10: error: ‘vector’ in namespace ‘std’ does not name a template type
     std::vector<Snapshot, Eigen::aligned_allocator<Snapshot>> buf; // circular buffer
          ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:10:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/meas.h:22:23: warning: defaulted and deleted functions only available with -std=c++11 or -std=gnu++11
     virtual ~Base() = default;
                       ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/meas.h:39:36: error: ‘function’ is not a member of ‘std’
 typedef std::multiset<meas::Base*, std::function<bool(const meas::Base*, const meas::Base*)>> MeasSet;
                                    ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/meas.h:39:36: error: ‘function’ is not a member of ‘std’
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/meas.h:39:91: error: expression list treated as compound expression in functional cast [-fpermissive]
 typedef std::multiset<meas::Base*, std::function<bool(const meas::Base*, const meas::Base*)>> MeasSet;
                                                                                           ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/meas.h:39:95: error: template argument 2 is invalid
 typedef std::multiset<meas::Base*, std::function<bool(const meas::Base*, const meas::Base*)>> MeasSet;
                                                                                               ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/meas.h:39:14: warning: ‘typedef’ was ignored in this declaration
 typedef std::multiset<meas::Base*, std::function<bool(const meas::Base*, const meas::Base*)>> MeasSet;
              ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:10:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/dynamics.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/meas.h:22:23: warning: defaulted and deleted functions only available with -std=c++11 or -std=gnu++11
     virtual ~Base() = default;
                       ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/meas.h:39:36: error: ‘function’ is not a member of ‘std’
 typedef std::multiset<meas::Base*, std::function<bool(const meas::Base*, const meas::Base*)>> MeasSet;
                                    ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/meas.h:39:36: error: ‘function’ is not a member of ‘std’
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/meas.h:39:91: error: expression list treated as compound expression in functional cast [-fpermissive]
 typedef std::multiset<meas::Base*, std::function<bool(const meas::Base*, const meas::Base*)>> MeasSet;
                                                                                           ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/meas.h:39:95: error: template argument 2 is invalid
 typedef std::multiset<meas::Base*, std::function<bool(const meas::Base*, const meas::Base*)>> MeasSet;
                                                                                               ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/meas.h:39:14: warning: ‘typedef’ was ignored in this declaration
 typedef std::multiset<meas::Base*, std::function<bool(const meas::Base*, const meas::Base*)>> MeasSet;
              ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:11:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/dynamics.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/logger.h:36:23: warning: variadic templates only available with -std=c++11 or -std=gnu++11
     template <typename... T>
                       ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/logger.h:37:19: warning: variadic templates only available with -std=c++11 or -std=gnu++11
     void log(T... data)
                   ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/logger.h:42:23: warning: variadic templates only available with -std=c++11 or -std=gnu++11
     template <typename... T>
                       ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/logger.h:43:26: warning: variadic templates only available with -std=c++11 or -std=gnu++11
     void logVectors(T... data)
                          ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/logger.h: In member function ‘void roscopter::Logger::open(const string&)’:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/logger.h:29:28: error: no matching function for call to ‘std::basic_ofstream<char>::open(const string&)’
         file_.open(filename);
                            ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/logger.h:6:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:11,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/dynamics.cpp:1:
/usr/include/c++/5/fstream:799:7: note: candidate: void std::basic_ofstream<_CharT, _Traits>::open(const char*, std::ios_base::openmode) [with _CharT = char; _Traits = std::char_traits<char>; std::ios_base::openmode = std::_Ios_Openmode]
       open(const char* __s,
       ^
/usr/include/c++/5/fstream:799:7: note:   no known conversion for argument 1 from ‘const string {aka const std::__cxx11::basic_string<char>}’ to ‘const char*’
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:11:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/dynamics.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/logger.h: In member function ‘void roscopter::Logger::log(T ...)’:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/logger.h:39:25: warning: variadic templates only available with -std=c++11 or -std=gnu++11
         int dummy[sizeof...(data)] = { (file_.write((char*)&data, sizeof(T)), 1)... };
                         ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/logger.h: In member function ‘void roscopter::Logger::logVectors(T ...)’:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/logger.h:45:25: warning: variadic templates only available with -std=c++11 or -std=gnu++11
         int dummy[sizeof...(data)] = { (file_.write((char*)data.data(), sizeof(typename T::Scalar)*data.rows()*data.cols()), 1)... };
                         ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:12:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/dynamics.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h: At global scope:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:9:14: error: ‘vector’ in namespace ‘std’ does not name a template type
 typedef std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d>> VecVec3;
              ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:10:8: error: ‘constexpr’ does not name a type
 static constexpr double A = 6378137.0;       // WGS-84 Earth semimajor axis (m)
        ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:10:8: note: C++11 ‘constexpr’ only available with -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:11:8: error: ‘constexpr’ does not name a type
 static constexpr double B = 6356752.314245;  // Derived Earth semiminor axis (m)
        ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:11:8: note: C++11 ‘constexpr’ only available with -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:12:8: error: ‘constexpr’ does not name a type
 static constexpr double F = (A - B) / A;     // Ellipsoid Flatness
        ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:12:8: note: C++11 ‘constexpr’ only available with -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:13:8: error: ‘constexpr’ does not name a type
 static constexpr double F_INV = 1.0 / F;     // Inverse flattening
        ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:13:8: note: C++11 ‘constexpr’ only available with -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:14:8: error: ‘constexpr’ does not name a type
 static constexpr double A2 = A * A;
        ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:14:8: note: C++11 ‘constexpr’ only available with -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:15:8: error: ‘constexpr’ does not name a type
 static constexpr double B2 = B * B;
        ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:15:8: note: C++11 ‘constexpr’ only available with -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:16:8: error: ‘constexpr’ does not name a type
 static constexpr double E2 = F * (2 - F);    // Square of Eccentricity
        ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:16:8: note: C++11 ‘constexpr’ only available with -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h: In function ‘void roscopter::ecef2lla(const Vector3d&, Eigen::Vector3d&)’:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:20:30: error: ‘F’ was not declared in this scope
     static const double e2 = F * (2.0 - F);
                              ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:30:13: error: ‘A’ was not declared in this scope
         v = A / std::sqrt(1.0 - e2*sinp*sinp);
             ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h: In function ‘void roscopter::lla2ecef(const Vector3d&, Eigen::Vector3d&)’:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:53:15: error: ‘F’ was not declared in this scope
     double e2=F*(2.0-F);
               ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:54:14: error: ‘A’ was not declared in this scope
     double v=A/sqrt(1.0-e2*sinp*sinp);
              ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:11:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/logger.h:36:23: warning: variadic templates only available with -std=c++11 or -std=gnu++11
     template <typename... T>
                       ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/logger.h:37:19: warning: variadic templates only available with -std=c++11 or -std=gnu++11
     void log(T... data)
                   ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/logger.h:42:23: warning: variadic templates only available with -std=c++11 or -std=gnu++11
     template <typename... T>
                       ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/logger.h:43:26: warning: variadic templates only available with -std=c++11 or -std=gnu++11
     void logVectors(T... data)
                          ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/logger.h: In member function ‘void roscopter::Logger::open(const string&)’:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/logger.h:29:28: error: no matching function for call to ‘std::basic_ofstream<char>::open(const string&)’
         file_.open(filename);
                            ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/logger.h:6:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:11,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:1:
/usr/include/c++/5/fstream:799:7: note: candidate: void std::basic_ofstream<_CharT, _Traits>::open(const char*, std::ios_base::openmode) [with _CharT = char; _Traits = std::char_traits<char>; std::ios_base::openmode = std::_Ios_Openmode]
       open(const char* __s,
       ^
/usr/include/c++/5/fstream:799:7: note:   no known conversion for argument 1 from ‘const string {aka const std::__cxx11::basic_string<char>}’ to ‘const char*’
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:11:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/logger.h: In member function ‘void roscopter::Logger::log(T ...)’:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/logger.h:39:25: warning: variadic templates only available with -std=c++11 or -std=gnu++11
         int dummy[sizeof...(data)] = { (file_.write((char*)&data, sizeof(T)), 1)... };
                         ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/logger.h: In member function ‘void roscopter::Logger::logVectors(T ...)’:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/logger.h:45:25: warning: variadic templates only available with -std=c++11 or -std=gnu++11
         int dummy[sizeof...(data)] = { (file_.write((char*)data.data(), sizeof(typename T::Scalar)*data.rows()*data.cols()), 1)... };
                         ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:12:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h: At global scope:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:9:14: error: ‘vector’ in namespace ‘std’ does not name a template type
 typedef std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d>> VecVec3;
              ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:10:8: error: ‘constexpr’ does not name a type
 static constexpr double A = 6378137.0;       // WGS-84 Earth semimajor axis (m)
        ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:10:8: note: C++11 ‘constexpr’ only available with -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:11:8: error: ‘constexpr’ does not name a type
 static constexpr double B = 6356752.314245;  // Derived Earth semiminor axis (m)
        ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:11:8: note: C++11 ‘constexpr’ only available with -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:12:8: error: ‘constexpr’ does not name a type
 static constexpr double F = (A - B) / A;     // Ellipsoid Flatness
        ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:12:8: note: C++11 ‘constexpr’ only available with -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:13:8: error: ‘constexpr’ does not name a type
 static constexpr double F_INV = 1.0 / F;     // Inverse flattening
        ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:13:8: note: C++11 ‘constexpr’ only available with -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:14:8: error: ‘constexpr’ does not name a type
 static constexpr double A2 = A * A;
        ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:14:8: note: C++11 ‘constexpr’ only available with -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:15:8: error: ‘constexpr’ does not name a type
 static constexpr double B2 = B * B;
        ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:15:8: note: C++11 ‘constexpr’ only available with -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:16:8: error: ‘constexpr’ does not name a type
 static constexpr double E2 = F * (2 - F);    // Square of Eccentricity
        ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:16:8: note: C++11 ‘constexpr’ only available with -std=c++11 or -std=gnu++11
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h: In function ‘void roscopter::ecef2lla(const Vector3d&, Eigen::Vector3d&)’:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:20:30: error: ‘F’ was not declared in this scope
     static const double e2 = F * (2.0 - F);
                              ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:30:13: error: ‘A’ was not declared in this scope
         v = A / std::sqrt(1.0 - e2*sinp*sinp);
             ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h: In function ‘void roscopter::lla2ecef(const Vector3d&, Eigen::Vector3d&)’:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:53:15: error: ‘F’ was not declared in this scope
     double e2=F*(2.0-F);
               ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:54:14: error: ‘A’ was not declared in this scope
     double v=A/sqrt(1.0-e2*sinp*sinp);
              ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h: In function ‘Eigen::Vector3d roscopter::ned2ecef(xform::Xformd, const Vector3d&)’:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:91:32: error: no matching function for call to ‘xform::Xform<double>::transforma(const Vector3d&) const’
     return x_e2n.transforma(ned);
                                ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:7:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/dynamics.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:264:29: note: candidate: template<class Tout, class Derived> Eigen::Matrix<Tout, 3, 1> xform::Xform<T>::transforma(const Derived&) const [with Tout = Tout; Derived = Derived; T = double]
   Eigen::Matrix<Tout, 3, 1> transforma(const Derived& v) const
                             ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:264:29: note:   template argument deduction/substitution failed:
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:12:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/dynamics.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:91:32: note:   couldn't deduce template parameter ‘Tout’
     return x_e2n.transforma(ned);
                                ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h: In function ‘void roscopter::ned2ecef(xform::Xformd, const Vector3d&, Eigen::Vector3d&)’:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:96:32: error: no matching function for call to ‘xform::Xform<double>::transforma(const Vector3d&) const’
     ecef = x_e2n.transforma(ned);
                                ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:7:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/dynamics.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:264:29: note: candidate: template<class Tout, class Derived> Eigen::Matrix<Tout, 3, 1> xform::Xform<T>::transforma(const Derived&) const [with Tout = Tout; Derived = Derived; T = double]
   Eigen::Matrix<Tout, 3, 1> transforma(const Derived& v) const
                             ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:264:29: note:   template argument deduction/substitution failed:
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:12:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/dynamics.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:96:32: note:   couldn't deduce template parameter ‘Tout’
     ecef = x_e2n.transforma(ned);
                                ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h: In function ‘Eigen::Vector3d roscopter::ecef2ned(xform::Xformd, const Vector3d&)’:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:101:33: error: no matching function for call to ‘xform::Xform<double>::transformp(const Vector3d&) const’
     return x_e2n.transformp(ecef);
                                 ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:7:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/dynamics.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:277:29: note: candidate: template<class Tout, class Derived> Eigen::Matrix<Tout, 3, 1> xform::Xform<T>::transformp(const Derived&) const [with Tout = Tout; Derived = Derived; T = double]
   Eigen::Matrix<Tout, 3, 1> transformp(const Derived& v) const
                             ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:277:29: note:   template argument deduction/substitution failed:
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:12:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/dynamics.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:101:33: note:   couldn't deduce template parameter ‘Tout’
     return x_e2n.transformp(ecef);
                                 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h: In function ‘void roscopter::ecef2ned(xform::Xformd, const Vector3d&, Eigen::Vector3d&)’:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:106:32: error: no matching function for call to ‘xform::Xform<double>::transformp(const Vector3d&) const’
     ned = x_e2n.transformp(ecef);
                                ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:7:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/dynamics.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:277:29: note: candidate: template<class Tout, class Derived> Eigen::Matrix<Tout, 3, 1> xform::Xform<T>::transformp(const Derived&) const [with Tout = Tout; Derived = Derived; T = double]
   Eigen::Matrix<Tout, 3, 1> transformp(const Derived& v) const
                             ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:277:29: note:   template argument deduction/substitution failed:
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:12:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/dynamics.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:106:32: note:   couldn't deduce template parameter ‘Tout’
     ned = x_e2n.transformp(ecef);
                                ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h: In function ‘Eigen::Vector3d roscopter::ned2ecef(xform::Xformd, const Vector3d&)’:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:91:32: error: no matching function for call to ‘xform::Xform<double>::transforma(const Vector3d&) const’
     return x_e2n.transforma(ned);
                                ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:7:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:264:29: note: candidate: template<class Tout, class Derived> Eigen::Matrix<Tout, 3, 1> xform::Xform<T>::transforma(const Derived&) const [with Tout = Tout; Derived = Derived; T = double]
   Eigen::Matrix<Tout, 3, 1> transforma(const Derived& v) const
                             ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:264:29: note:   template argument deduction/substitution failed:
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:12:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:91:32: note:   couldn't deduce template parameter ‘Tout’
     return x_e2n.transforma(ned);
                                ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h: In function ‘void roscopter::ned2ecef(xform::Xformd, const Vector3d&, Eigen::Vector3d&)’:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:96:32: error: no matching function for call to ‘xform::Xform<double>::transforma(const Vector3d&) const’
     ecef = x_e2n.transforma(ned);
                                ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:7:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:264:29: note: candidate: template<class Tout, class Derived> Eigen::Matrix<Tout, 3, 1> xform::Xform<T>::transforma(const Derived&) const [with Tout = Tout; Derived = Derived; T = double]
   Eigen::Matrix<Tout, 3, 1> transforma(const Derived& v) const
                             ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:264:29: note:   template argument deduction/substitution failed:
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:12:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:96:32: note:   couldn't deduce template parameter ‘Tout’
     ecef = x_e2n.transforma(ned);
                                ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h: In function ‘Eigen::Vector3d roscopter::ecef2ned(xform::Xformd, const Vector3d&)’:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:101:33: error: no matching function for call to ‘xform::Xform<double>::transformp(const Vector3d&) const’
     return x_e2n.transformp(ecef);
                                 ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:7:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:277:29: note: candidate: template<class Tout, class Derived> Eigen::Matrix<Tout, 3, 1> xform::Xform<T>::transformp(const Derived&) const [with Tout = Tout; Derived = Derived; T = double]
   Eigen::Matrix<Tout, 3, 1> transformp(const Derived& v) const
                             ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:277:29: note:   template argument deduction/substitution failed:
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:12:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:101:33: note:   couldn't deduce template parameter ‘Tout’
     return x_e2n.transformp(ecef);
                                 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h: In function ‘void roscopter::ecef2ned(xform::Xformd, const Vector3d&, Eigen::Vector3d&)’:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:106:32: error: no matching function for call to ‘xform::Xform<double>::transformp(const Vector3d&) const’
     ned = x_e2n.transformp(ecef);
                                ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:7:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:277:29: note: candidate: template<class Tout, class Derived> Eigen::Matrix<Tout, 3, 1> xform::Xform<T>::transformp(const Derived&) const [with Tout = Tout; Derived = Derived; T = double]
   Eigen::Matrix<Tout, 3, 1> transformp(const Derived& v) const
                             ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:277:29: note:   template argument deduction/substitution failed:
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:12:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:106:32: note:   couldn't deduce template parameter ‘Tout’
     ned = x_e2n.transformp(ecef);
                                ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:13:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/dynamics.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/yaml.h: In function ‘bool roscopter::get_yaml_eigen(std::__cxx11::string, std::__cxx11::string, Eigen::MatrixBase<Derived>&, bool)’:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/yaml.h:48:42: error: ‘>>’ should be ‘> >’ within a nested template argument list
     vec = node[key].as<std::vector<double>>();
                                          ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/yaml.h:64:49: error: ‘to_string’ is not a member of ‘std’
                                ". Requested " + std::to_string(Derived1::RowsAtCompileTime) + "x" + std::to_string(Derived1::ColsAtCompileTime) +
                                                 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/yaml.h:64:101: error: ‘to_string’ is not a member of ‘std’
                                ". Requested " + std::to_string(Derived1::RowsAtCompileTime) + "x" + std::to_string(Derived1::ColsAtCompileTime) +
                                                                                                     ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/yaml.h:65:45: error: ‘to_string’ is not a member of ‘std’
                                ", Found " + std::to_string(vec.size()));
                                             ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:13:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/yaml.h: In function ‘bool roscopter::get_yaml_eigen(std::__cxx11::string, std::__cxx11::string, Eigen::MatrixBase<Derived>&, bool)’:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/yaml.h:48:42: error: ‘>>’ should be ‘> >’ within a nested template argument list
     vec = node[key].as<std::vector<double>>();
                                          ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/dynamics.cpp:1:0:
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h: At global scope:
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:85:9: error: ‘MeasSet’ in namespace ‘roscopter::ekf::meas’ does not name a type
   meas::MeasSet::iterator getOldestNewMeas();
         ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/yaml.h:64:49: error: ‘to_string’ is not a member of ‘std’
                                ". Requested " + std::to_string(Derived1::RowsAtCompileTime) + "x" + std::to_string(Derived1::ColsAtCompileTime) +
                                                 ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/yaml.h:64:101: error: ‘to_string’ is not a member of ‘std’
                                ". Requested " + std::to_string(Derived1::RowsAtCompileTime) + "x" + std::to_string(Derived1::ColsAtCompileTime) +
                                                                                                     ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/yaml.h:65:45: error: ‘to_string’ is not a member of ‘std’
                                ", Found " + std::to_string(vec.size()));
                                             ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:130:3: warning: non-static data member initializers only available with -std=c++11 or -std=gnu++11
   };
   ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:1:0:
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h: At global scope:
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:85:9: error: ‘MeasSet’ in namespace ‘roscopter::ekf::meas’ does not name a type
   meas::MeasSet::iterator getOldestNewMeas();
         ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:130:3: warning: non-static data member initializers only available with -std=c++11 or -std=gnu++11
   };
   ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:179:9: error: ‘MeasSet’ in namespace ‘roscopter::ekf::meas’ does not name a type
   meas::MeasSet meas_;
         ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:180:59: error: ‘>>’ should be ‘> >’ within a nested template argument list
   std::deque<meas::Imu, Eigen::aligned_allocator<meas::Imu>> imu_meas_buf_;
                                                           ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:181:63: error: ‘>>’ should be ‘> >’ within a nested template argument list
   std::deque<meas::Mocap, Eigen::aligned_allocator<meas::Mocap>> mocap_meas_buf_;
                                                               ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:179:9: error: ‘MeasSet’ in namespace ‘roscopter::ekf::meas’ does not name a type
   meas::MeasSet meas_;
         ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:180:59: error: ‘>>’ should be ‘> >’ within a nested template argument list
   std::deque<meas::Imu, Eigen::aligned_allocator<meas::Imu>> imu_meas_buf_;
                                                           ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:182:61: error: ‘>>’ should be ‘> >’ within a nested template argument list
   std::deque<meas::Gnss, Eigen::aligned_allocator<meas::Gnss>> gnss_meas_buf_;
                                                             ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:181:63: error: ‘>>’ should be ‘> >’ within a nested template argument list
   std::deque<meas::Mocap, Eigen::aligned_allocator<meas::Mocap>> mocap_meas_buf_;
                                                               ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:183:67: error: ‘>>’ should be ‘> >’ within a nested template argument list
   std::deque<meas::ZeroVel, Eigen::aligned_allocator<meas::ZeroVel>> zv_meas_buf_;
                                                                   ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:182:61: error: ‘>>’ should be ‘> >’ within a nested template argument list
   std::deque<meas::Gnss, Eigen::aligned_allocator<meas::Gnss>> gnss_meas_buf_;
                                                             ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:119:39: warning: extended initializer lists only available with -std=c++11 or -std=gnu++11
   std::vector<std::string> log_names_ {
                                       ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:130:3: warning: extended initializer lists only available with -std=c++11 or -std=gnu++11
   };
   ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:130:3: error: could not convert ‘{"state", "cov", "gnss_res", "mocap_res", "zero_vel_res", "baro_res", "range_res", "imu", "lla", "ref"}’ from ‘<brace-enclosed initializer list>’ to ‘std::vector<std::__cxx11::basic_string<char> >’
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:183:67: error: ‘>>’ should be ‘> >’ within a nested template argument list
   std::deque<meas::ZeroVel, Eigen::aligned_allocator<meas::ZeroVel>> zv_meas_buf_;
                                                                   ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/dynamics.cpp:10:20: error: expected ‘{’ before ‘::’ token
 namespace roscopter::ekf
                    ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/dynamics.cpp:10:22: error: ‘ekf’ in namespace ‘::’ does not name a type
 namespace roscopter::ekf
                      ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/dynamics.cpp:72:1: error: expected ‘}’ at end of input
 }
 ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:119:39: warning: extended initializer lists only available with -std=c++11 or -std=gnu++11
   std::vector<std::string> log_names_ {
                                       ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:130:3: warning: extended initializer lists only available with -std=c++11 or -std=gnu++11
   };
   ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:130:3: error: could not convert ‘{"state", "cov", "gnss_res", "mocap_res", "zero_vel_res", "baro_res", "range_res", "imu", "lla", "ref"}’ from ‘<brace-enclosed initializer list>’ to ‘std::vector<std::__cxx11::basic_string<char> >’
In file included from /home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:9:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:7,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/dynamics.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h: In instantiation of ‘quat::Quat<T> quat::Quat<T>::operator*(const quat::Quat<T2>&) const [with T2 = double; T = double]’:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:73:17:   required from here
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:86:59: error: no matching function for call to ‘quat::Quat<double>::otimes(const quat::Quat<double>&) const’
   Quat operator* (const Quat<T2>& q) const { return otimes(q); }
                                                           ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:433:14: note: candidate: template<class Tout, class T2> quat::Quat<T2> quat::Quat<T>::otimes(const quat::Quat<T2>&) const [with Tout = Tout; T2 = T2; T = double]
   Quat<Tout> otimes(const Quat<T2>& q) const
              ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:433:14: note:   template argument deduction/substitution failed:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:86:59: note:   couldn't deduce template parameter ‘Tout’
   Quat operator* (const Quat<T2>& q) const { return otimes(q); }
                                                           ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp: In member function ‘void roscopter::ekf::EKF::initLog(const string&)’:
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:95:8: error: ‘std::experimental’ has not been declared
   std::experimental::filesystem::create_directories(log_prefix_);
        ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:1:0:
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp: In member function ‘void roscopter::ekf::EKF::propagate(const double&, const Vector6d&, const Matrix6d&)’:
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:35:47: error: ‘to_string’ is not a member of ‘std’
   throw std::runtime_error(#mat " Has NaNs" + std::to_string(__LINE__));\
                                               ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:143:3: note: in expansion of macro ‘CHECK_NAN’
   CHECK_NAN(P());
   ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:35:47: error: ‘to_string’ is not a member of ‘std’
   throw std::runtime_error(#mat " Has NaNs" + std::to_string(__LINE__));\
                                               ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:144:3: note: in expansion of macro ‘CHECK_NAN’
   CHECK_NAN(A_);
   ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:35:47: error: ‘to_string’ is not a member of ‘std’
   throw std::runtime_error(#mat " Has NaNs" + std::to_string(__LINE__));\
                                               ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:145:3: note: in expansion of macro ‘CHECK_NAN’
   CHECK_NAN(B_);
   ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:35:47: error: ‘to_string’ is not a member of ‘std’
   throw std::runtime_error(#mat " Has NaNs" + std::to_string(__LINE__));\
                                               ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:146:3: note: in expansion of macro ‘CHECK_NAN’
   CHECK_NAN(Qx_);
   ^
roscopter/roscopter/CMakeFiles/ekf.dir/build.make:86: recipe for target 'roscopter/roscopter/CMakeFiles/ekf.dir/src/ekf/dynamics.cpp.o' failed
make[2]: *** [roscopter/roscopter/CMakeFiles/ekf.dir/src/ekf/dynamics.cpp.o] Error 1
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:35:47: error: ‘to_string’ is not a member of ‘std’
   throw std::runtime_error(#mat " Has NaNs" + std::to_string(__LINE__));\
                                               ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:148:3: note: in expansion of macro ‘CHECK_NAN’
   CHECK_NAN(xbuf_.next().P);
   ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp: In member function ‘void roscopter::ekf::EKF::run()’:
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:164:9: error: ‘roscopter::ekf::meas::MeasSet’ has not been declared
   meas::MeasSet::iterator nmit = getOldestNewMeas();
         ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:165:7: error: ‘nmit’ was not declared in this scope
   if (nmit == meas_.end())
       ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:165:15: error: ‘meas_’ was not declared in this scope
   if (nmit == meas_.end())
               ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:169:23: error: ‘nmit’ was not declared in this scope
   if (!xbuf_.rewind((*nmit)->t))
                       ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:173:10: error: ‘nmit’ was not declared in this scope
   while (nmit != meas_.end())
          ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:173:18: error: ‘meas_’ was not declared in this scope
   while (nmit != meas_.end())
                  ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:180:32: error: ‘meas_’ was not declared in this scope
   while (xbuf_.begin().x.t > (*meas_.begin())->t)
                                ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp: At global scope:
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:220:7: error: ‘MeasSet’ in namespace ‘roscopter::ekf::meas’ does not name a type
 meas::MeasSet::iterator EKF::getOldestNewMeas()
       ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp: In member function ‘bool roscopter::ekf::EKF::measUpdate(const VectorXd&, const MatrixXd&, const MatrixXd&)’:
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:233:8: error: ‘K’ does not name a type
   auto K = K_.leftCols(size);
        ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:1:0:
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:35:47: error: ‘to_string’ is not a member of ‘std’
   throw std::runtime_error(#mat " Has NaNs" + std::to_string(__LINE__));\
                                               ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:238:3: note: in expansion of macro ‘CHECK_NAN’
   CHECK_NAN(H); CHECK_NAN(R); CHECK_NAN(P());
   ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:35:47: error: ‘to_string’ is not a member of ‘std’
   throw std::runtime_error(#mat " Has NaNs" + std::to_string(__LINE__));\
                                               ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:238:17: note: in expansion of macro ‘CHECK_NAN’
   CHECK_NAN(H); CHECK_NAN(R); CHECK_NAN(P());
                 ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:35:47: error: ‘to_string’ is not a member of ‘std’
   throw std::runtime_error(#mat " Has NaNs" + std::to_string(__LINE__));\
                                               ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:238:31: note: in expansion of macro ‘CHECK_NAN’
   CHECK_NAN(H); CHECK_NAN(R); CHECK_NAN(P());
                               ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:239:3: error: ‘K’ was not declared in this scope
   K = P() * H.T * innov;
   ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:1:0:
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:35:47: error: ‘to_string’ is not a member of ‘std’
   throw std::runtime_error(#mat " Has NaNs" + std::to_string(__LINE__));\
                                               ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:240:3: note: in expansion of macro ‘CHECK_NAN’
   CHECK_NAN(K);
   ^
/home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:35:47: error: ‘to_string’ is not a member of ‘std’
   throw std::runtime_error(#mat " Has NaNs" + std::to_string(__LINE__));\
                                               ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:258:3: note: in expansion of macro ‘CHECK_NAN’
   CHECK_NAN(P());
   ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp: In member function ‘void roscopter::ekf::EKF::imuCallback(const double&, const Vector6d&, const Matrix6d&)’:
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:271:5: error: ‘meas_’ was not declared in this scope
     meas_.insert(meas_.end(), &imu_meas_buf_.back());
     ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp: In member function ‘void roscopter::ekf::EKF::gnssCallback(const double&, const Vector6d&, const Matrix6d&)’:
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:318:5: error: ‘meas_’ was not declared in this scope
     meas_.insert(meas_.end(), &gnss_meas_buf_.back());
     ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp: In member function ‘void roscopter::ekf::EKF::mocapCallback(const double&, const Xformd&, const Matrix6d&)’:
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:336:5: error: ‘meas_’ was not declared in this scope
     meas_.insert(meas_.end(), &mocap_meas_buf_.back());
     ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp: In member function ‘void roscopter::ekf::EKF::baroUpdate(const roscopter::ekf::meas::Baro&)’:
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:374:9: error: expected nested-name-specifier before ‘Vector1d’
   using Vector1d = Eigen::Matrix<double, 1, 1>;
         ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp: In member function ‘void roscopter::ekf::EKF::rangeUpdate(const roscopter::ekf::meas::Range&)’:
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:422:9: error: expected nested-name-specifier before ‘Vector1d’
   using Vector1d = Eigen::Matrix<double, 1, 1>;
         ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp: In member function ‘void roscopter::ekf::EKF::gnssUpdate(const roscopter::ekf::meas::Gnss&)’:
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:470:55: error: no matching function for call to ‘quat::Quat<double>::rota(Eigen::Vector3d&)’
   const Vector3d gps_pos_I = x().p + x().q.rota(p_b2g_);
                                                       ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:9:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:7,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:365:29: note: candidate: template<class Tout, class Derived> Eigen::Matrix<Tout, 3, 1> quat::Quat<T>::rota(const Derived&) const [with Tout = Tout; Derived = Derived; T = double]
   Eigen::Matrix<Tout, 3, 1> rota(const Derived& v) const
                             ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:365:29: note:   template argument deduction/substitution failed:
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:470:55: note:   couldn't deduce template parameter ‘Tout’
   const Vector3d gps_pos_I = x().p + x().q.rota(p_b2g_);
                                                       ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:472:50: error: no matching function for call to ‘quat::Quat<double>::rota(const Vector3d&)’
   const Vector3d gps_vel_I = x().q.rota(gps_vel_b);
                                                  ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:9:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:7,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:365:29: note: candidate: template<class Tout, class Derived> Eigen::Matrix<Tout, 3, 1> quat::Quat<T>::rota(const Derived&) const [with Tout = Tout; Derived = Derived; T = double]
   Eigen::Matrix<Tout, 3, 1> rota(const Derived& v) const
                             ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:365:29: note:   template argument deduction/substitution failed:
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:472:50: note:   couldn't deduce template parameter ‘Tout’
   const Vector3d gps_vel_I = x().q.rota(gps_vel_b);
                                                  ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:481:38: error: no matching function for call to ‘xform::Xform<double>::transforma(const Vector3d&)’
   zhat << x_e2I_.transforma(gps_pos_I),
                                      ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:7:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:264:29: note: candidate: template<class Tout, class Derived> Eigen::Matrix<Tout, 3, 1> xform::Xform<T>::transforma(const Derived&) const [with Tout = Tout; Derived = Derived; T = double]
   Eigen::Matrix<Tout, 3, 1> transforma(const Derived& v) const
                             ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:264:29: note:   template argument deduction/substitution failed:
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:481:38: note:   couldn't deduce template parameter ‘Tout’
   zhat << x_e2I_.transforma(gps_pos_I),
                                      ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:482:32: error: no matching function for call to ‘xform::Xform<double>::rota(const Vector3d&)’
           x_e2I_.rota(gps_vel_I);
                                ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:7:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:288:29: note: candidate: template<class Tout, class Derived> Eigen::Matrix<Tout, 3, 1> xform::Xform<T>::rota(const Derived&) const [with Tout = Tout; Derived = Derived; T = double]
   Eigen::Matrix<Tout, 3, 1> rota(const Derived& v) const
                             ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:288:29: note:   template argument deduction/substitution failed:
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:482:32: note:   couldn't deduce template parameter ‘Tout’
           x_e2I_.rota(gps_vel_I);
                                ^
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp: In member function ‘void roscopter::ekf::EKF::cleanUpMeasurementBuffers()’:
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:599:12: error: ‘meas_’ was not declared in this scope
   while ((*meas_.begin())->t < xbuf_.begin().x.t)
            ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:9:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:7,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h: In instantiation of ‘quat::Quat<T> quat::Quat<T>::operator*(const quat::Quat<T2>&) const [with T2 = double; T = double]’:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/include/roscopter_utils/gnss.h:73:17:   required from here
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:86:59: error: no matching function for call to ‘quat::Quat<double>::otimes(const quat::Quat<double>&) const’
   Quat operator* (const Quat<T2>& q) const { return otimes(q); }
                                                           ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:433:14: note: candidate: template<class Tout, class T2> quat::Quat<T2> quat::Quat<T>::otimes(const quat::Quat<T2>&) const [with Tout = Tout; T2 = T2; T = double]
   Quat<Tout> otimes(const Quat<T2>& q) const
              ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:433:14: note:   template argument deduction/substitution failed:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:86:59: note:   couldn't deduce template parameter ‘Tout’
   Quat operator* (const Quat<T2>& q) const { return otimes(q); }
                                                           ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:7:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h: In instantiation of ‘xform::Xform<T> xform::Xform<T>::operator*(const xform::Xform<T>&) const [with T = double]’:
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:326:55:   required from here
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:115:20: error: no matching function for call to ‘xform::Xform<double>::otimes(const xform::Xform<double>&) const’
       return otimes(X);
                    ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:254:15: note: candidate: template<class Tout, class T2> xform::Xform<T2> xform::Xform<T>::otimes(const xform::Xform<T2>&) const [with Tout = Tout; T2 = T2; T = double]
   Xform<Tout> otimes(const Xform<T2>& X2) const
               ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:254:15: note:   template argument deduction/substitution failed:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:115:20: note:   couldn't deduce template parameter ‘Tout’
       return otimes(X);
                    ^
In file included from /home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/xform.h:9:0,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/include/ekf/ekf.h:7,
                 from /home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:1:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h: In instantiation of ‘Eigen::Matrix<_Scalar, 3, 1> quat::Quat<T>::operator-(const quat::Quat<T2>&) const [with T2 = double; T = double]’:
/home/ros/catkin_ws/src/roscopter/roscopter/src/ekf/ekf.cpp:527:35:   required from here
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:107:76: error: no matching function for call to ‘quat::Quat<double>::boxminus(const quat::Quat<double>&) const’
   Eigen::Matrix<T,3,1> operator- (const Quat<T2>& q) const {return boxminus(q);}
                                                                            ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:450:29: note: candidate: template<class Tout, class T2> Eigen::Matrix<Tout, 3, 1> quat::Quat<T>::boxminus(const quat::Quat<T2>&) const [with Tout = Tout; T2 = T2; T = double]
   Eigen::Matrix<Tout, 3, 1> boxminus(const Quat<T2> &q) const
                             ^
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:450:29: note:   template argument deduction/substitution failed:
/home/ros/catkin_ws/src/roscopter/roscopter_utils/lib/geometry/include/geometry/quat.h:107:76: note:   couldn't deduce template parameter ‘Tout’
   Eigen::Matrix<T,3,1> operator- (const Quat<T2>& q) const {return boxminus(q);}
                                                                            ^
roscopter/roscopter/CMakeFiles/ekf.dir/build.make:110: recipe for target 'roscopter/roscopter/CMakeFiles/ekf.dir/src/ekf/ekf.cpp.o' failed
make[2]: *** [roscopter/roscopter/CMakeFiles/ekf.dir/src/ekf/ekf.cpp.o] Error 1
CMakeFiles/Makefile2:6413: recipe for target 'roscopter/roscopter/CMakeFiles/ekf.dir/all' failed
make[1]: *** [roscopter/roscopter/CMakeFiles/ekf.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2


Provide feedback

Saved searches

Use saved searches to filter your results more quickly

lots of errors #44

Metadata

Assignees

Labels

Type

Fields

Projects

Milestone

Relationships

Development

lots of errors #44

Description

Metadata

Metadata

Assignees

Labels

Type

Fields

Projects

Milestone

Relationships

Development

Issue actions