Fix GCC 13 warnings

[Gold856]

Fixes #1967. Adds Ubuntu 24.04 with GCC 13 to the CI matrix so we can catch this on GitHub's CI.

[Gold856]

Error for BearingRange.h:

In file included from /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/util/ConfigureVectorization.h:346,
                 from /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/Core:22,
                 from /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/Dense:1,
                 from /home/gold856/gtsam/gtsam/base/OptionalJacobian.h:24,
                 from /home/gold856/gtsam/gtsam/base/Matrix.h:27,
                 from /home/gold856/gtsam/gtsam/base/VerticalBlockMatrix.h:20,
                 from /home/gold856/gtsam/gtsam/nonlinear/internal/JacobianMap.h:23,
                 from /home/gold856/gtsam/gtsam/nonlinear/Expression.h:22,
                 from /home/gold856/gtsam/gtsam/nonlinear/ExpressionFactor.h:25,
                 from /home/gold856/gtsam/gtsam/sam/BearingRangeFactor.h:22,
                 from /home/gold856/gtsam/gtsam/slam/dataset.cpp:21:
In function ‘__m128d _mm_loadu_pd(const double*)’,
    inlined from ‘Packet Eigen::internal::ploadu(const typename unpacket_traits<T>::type*) [with Packet = __vector(2) double]’ at /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/SSE/PacketMath.h:746:22,
    inlined from ‘Packet Eigen::internal::ploadt(const typename unpacket_traits<T>::type*) [with Packet = __vector(2) double; int Alignment = 0]’ at /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/GenericPacketMath.h:969:26,
    inlined from ‘PacketType Eigen::internal::evaluator<Eigen::PlainObjectBase<Derived> >::packet(Eigen::Index, Eigen::Index) const [with int LoadMode = 0; PacketType = __vector(2) double; Derived = Eigen::Matrix<double, 1, 1, 0, 1, 1>]’ at /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/CoreEvaluators.h:238:42,
    inlined from ‘void Eigen::internal::generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version>::assignPacket(Eigen::Index, Eigen::Index) [with int StoreMode = 16; int LoadMode = 0; PacketType = __vector(2) double; DstEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, -1, false> >; SrcEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Matrix<double, 1, 1, 0, 1, 1> >; Functor = Eigen::internal::assign_op<double, double>; int Version = 0]’ at /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:675:116,
    inlined from ‘void Eigen::internal::generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version>::assignPacketByOuterInner(Eigen::Index, Eigen::Index) [with int StoreMode = 16; int LoadMode = 0; PacketType = __vector(2) double; DstEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, -1, false> >; SrcEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Matrix<double, 1, 1, 0, 1, 1> >; Functor = Eigen::internal::assign_op<double, double>; int Version = 0]’ at /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:689:48,
    inlined from ‘static void Eigen::internal::dense_assignment_loop<Kernel, 4, 0>::run(Kernel&) [with Kernel = Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, -1, false> >, Eigen::internal::evaluator<Eigen::Matrix<double, 1, 1, 0, 1, 1> >, Eigen::internal::assign_op<double, double>, 0>]’ at /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:572:86,
    inlined from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, -1, false>; SrcXprType = Eigen::Matrix<double, 1, 1, 0, 1, 1>; Functor = assign_op<double, double>]’ at /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:785:37,
    inlined from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, -1, false>; SrcXprType = Eigen::Matrix<double, 1, 1, 0, 1, 1>; Functor = Eigen::internal::assign_op<double, double>; Weak = void]’ at /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:954:31,
    inlined from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, -1, false>; Src = Eigen::Matrix<double, 1, 1, 0, 1, 1>; Func = assign_op<double, double>]’ at /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:890:49,
    inlined from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, -1, false>; Src = Eigen::Matrix<double, 1, 1, 0, 1, 1>; Func = assign_op<double, double>]’ at /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:858:27,
    inlined from ‘void Eigen::internal::call_assignment(Dst&, const Src&) [with Dst = Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, -1, false>; Src = Eigen::Matrix<double, 1, 1, 0, 1, 1>]’ at /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/AssignEvaluator.h:836:18,
    inlined from ‘Derived& Eigen::MatrixBase<Derived>::operator=(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Matrix<double, 1, 1, 0, 1, 1>; Derived = Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, -1, false>]’ at /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/Assign.h:66:28,
    inlined from ‘Eigen::CommaInitializer<MatrixType>::CommaInitializer(XprType&, const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Matrix<double, 1, 1, 0, 1, 1>; XprType = Eigen::Matrix<double, 2, 1>]’ at /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/CommaInitializer.h:48:51,
    inlined from ‘Eigen::CommaInitializer<Derived> Eigen::DenseBase<Derived>::operator<<(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Matrix<double, 1, 1, 0, 1, 1>; Derived = Eigen::Matrix<double, 2, 1>]’ at /home/gold856/gtsam/gtsam/3rdparty/Eigen/Eigen/src/Core/CommaInitializer.h:159:72,
    inlined from ‘gtsam::BearingRange<A1, A2, B, R>::TangentVector gtsam::BearingRange<A1, A2, B, R>::localCoordinates(const gtsam::BearingRange<A1, A2, B, R>&) const [with A1 = gtsam::Pose2; A2 = Eigen::Matrix<double, 2, 1>; B = gtsam::Rot2; R = double]’ at /home/gold856/gtsam/gtsam/geometry/BearingRange.h:142:12:
/usr/lib/gcc/x86_64-linux-gnu/13/include/emmintrin.h:134:24: error: array subscript ‘__m128d_u[0]’ is partly outside array bounds of ‘gtsam::internal::LieGroupTraits<gtsam::Rot2>::TangentVector [1]’ {aka ‘Eigen::Matrix<double, 1, 1, 0, 1, 1> [1]’} [-Werror=array-bounds=]
  134 |   return *(__m128d_u *)__P;
      |                        ^~~
In file included from /home/gold856/gtsam/gtsam/sam/BearingRangeFactor.h:23:
/home/gold856/gtsam/gtsam/geometry/BearingRange.h: In member function ‘gtsam::BearingRange<A1, A2, B, R>::TangentVector gtsam::BearingRange<A1, A2, B, R>::localCoordinates(const gtsam::BearingRange<A1, A2, B, R>&) const [with A1 = gtsam::Pose2; A2 = Eigen::Matrix<double, 2, 1>; B = gtsam::Rot2; R = double]’:
/home/gold856/gtsam/gtsam/geometry/BearingRange.h:139:39: note: object ‘v1’ of size 8
  139 |     typename traits<B>::TangentVector v1 = traits<B>::Local(bearing_, other.bearing_);

[Gold856]

Blocked by #1738