Public bug reported:

opensurgsim will FTBFS on Jammy.  The most pressing problem is the
following:

/<<PKGBUILDDIR>>/SurgSim/Devices/DeviceFilters/PoseIntegrator.cpp:122:42: 
error: no matching function for call to 
‘computeAngleAndAxis(Eigen::Transform<double, 3, 1>::RotationReturnType, 
double*, SurgSim::Math::Vector3d*)’                                      
  122 |                 Math::computeAngleAndAxis(pose.rotation(), &angle, 
&rotationAxis);                                        
      |                 
~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~               
                          
In file included from /<<PKGBUILDDIR>>/SurgSim/Framework/Accessible.h:27,       
                                                  
                 from /<<PKGBUILDDIR>>/SurgSim/Input/DeviceInterface.h:24,      
                                                  
                 from /<<PKGBUILDDIR>>/SurgSim/Input/CommonDevice.h:22,         
                                                  
                 from 
/<<PKGBUILDDIR>>/SurgSim/Devices/DeviceFilters/DeviceFilter.h:21,               
                            
                 from 
/<<PKGBUILDDIR>>/SurgSim/Devices/DeviceFilters/PoseIntegrator.h:23,             
                            
                 from 
/<<PKGBUILDDIR>>/SurgSim/Devices/DeviceFilters/PoseIntegrator.cpp:16:           
                            
/<<PKGBUILDDIR>>/SurgSim/Math/Matrix.h:127:13: note: candidate: ‘template<class 
T, int MOpt, int VOpt> void SurgSim::Math::computeAngleAndAxis(const 
Eigen::Matrix<T, 3, 3, MOpt>&, T*, Eigen::Matrix<T, 3, 1, VOpt>*)’              
                               

After poking around a bit I believe this mismatch is due to changes in
libeigen3 around the return type of pose.rotation()

Eigen/src/Geometry/Transform.h
-  EIGEN_DEVICE_FUNC const LinearMatrixType rotation() const;
+  typedef typename 
internal::conditional<int(Mode)==Isometry,ConstLinearPart,const 
LinearMatrixType>::type RotationReturnType;
+  EIGEN_DEVICE_FUNC RotationReturnType rotation() const;

I played a bit with a non-Isometry Mode setting to try to revert that,
but the non-Isometry mode created many new problems and I'm less than
certain that change is valid.

** Affects: opensurgsim (Ubuntu)
     Importance: Undecided
         Status: New


** Tags: ftbfs update-excuse

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https://bugs.launchpad.net/bugs/1959839

Title:
  FTBFS on jammy

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