Eigen trouble initializing Quaterniond from Angleaxisd

I am trying to set the value of an Eigen::Quaterniond object from an Eigen::AngleAxisd, as shown here.

I keep getting a "stack smashing" error:

Running main() from gmock_main.cc
*** stack smashing detected ***: <my executable> terminated

Process finished with exit code 134 (interrupted by signal 6: SIGABRT)


when I run this simple test:

TEST_F(UtilTestCase,testEigenQuaternionFromAngleAxis)
{
Eigen::AngleAxisd veh2sensor(M_PI_2, Eigen::Vector3d::UnitZ());
Eigen::Quaterniond q_veh2sensor;
q_veh2sensor.setIdentity();
q_veh2sensor = veh2sensor;

EXPECT_NEAR(q_veh2sensor.x(),0.0,1e-6);
EXPECT_NEAR(q_veh2sensor.y(),0.0,1e-6);
EXPECT_NEAR(q_veh2sensor.z(),1.0 * sin(M_PI_4),1e-6);
EXPECT_NEAR(q_veh2sensor.w(),1.0 * cos(M_PI_4),1e-6);
}


When I run in the debugger, the code always fails at the line where I assign from veh2sensor to q_veh2sensor. In other words:

I somehow get a stack smashing error when attempting to convert between an AngleAxisd and a Quaterniond using the operator= method of the Quaterniond class.

Why on earth is this the case?

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