Updated Eigen - From 3.02 to 3.05. Hopefully it should be harmless.

eigenlib/Eigen/Core

@@ -167,7 +167,7 @@
   #include <intrin.h>
 #endif
 
-#if (defined(_CPPUNWIND) || defined(__EXCEPTIONS)) && !defined(EIGEN_NO_EXCEPTIONS)
+#if defined(_CPPUNWIND) || defined(__EXCEPTIONS)
   #define EIGEN_EXCEPTIONS
 #endif
 

eigenlib/Eigen/SVD

@@ -13,9 +13,9 @@ namespace Eigen {
   *
   *
   *
-  * This module provides SVD decomposition for (currently) real matrices.
+  * This module provides SVD decomposition for matrices (both real and complex).
   * This decomposition is accessible via the following MatrixBase method:
-  *  - MatrixBase::svd()
+  *  - MatrixBase::jacobiSvd()
   *
   * \code
   * #include <Eigen/SVD>

eigenlib/Eigen/src/Cholesky/LDLT.h

@@ -158,10 +158,19 @@ template<typename _MatrixType, int _UpLo> class LDLT
     }
 
     /** \returns a solution x of \f$ A x = b \f$ using the current decomposition of A.
+      *
+      * This function also supports in-place solves using the syntax <tt>x = decompositionObject.solve(x)</tt> .
       *
       * \note_about_checking_solutions
       *
-      * \sa solveInPlace(), MatrixBase::ldlt()
+      * More precisely, this method solves \f$ A x = b \f$ using the decomposition \f$ A = P^T L D L^* P \f$
+      * by solving the systems \f$ P^T y_1 = b \f$, \f$ L y_2 = y_1 \f$, \f$ D y_3 = y_2 \f$, 
+      * \f$ L^* y_4 = y_3 \f$ and \f$ P x = y_4 \f$ in succession. If the matrix \f$ A \f$ is singular, then
+      * \f$ D \f$ will also be singular (all the other matrices are invertible). In that case, the
+      * least-square solution of \f$ D y_3 = y_2 \f$ is computed. This does not mean that this function
+      * computes the least-square solution of \f$ A x = b \f$ is \f$ A \f$ is singular.
+      *
+      * \sa MatrixBase::ldlt()
       */
     template<typename Rhs>
     inline const internal::solve_retval<LDLT, Rhs>
@@ -376,7 +385,21 @@ struct solve_retval<LDLT<_MatrixType,_UpLo>, Rhs>
     dec().matrixL().solveInPlace(dst);
 
     // dst = D^-1 (L^-1 P b)
-    dst = dec().vectorD().asDiagonal().inverse() * dst;
+    // more precisely, use pseudo-inverse of D (see bug 241)
+    using std::abs;
+    using std::max;
+    typedef typename LDLTType::MatrixType MatrixType;
+    typedef typename LDLTType::Scalar Scalar;
+    typedef typename LDLTType::RealScalar RealScalar;
+    const Diagonal<const MatrixType> vectorD = dec().vectorD();
+    RealScalar tolerance = (max)(vectorD.array().abs().maxCoeff() * NumTraits<Scalar>::epsilon(),
+				 RealScalar(1) / NumTraits<RealScalar>::highest()); // motivated by LAPACK's xGELSS
+    for (Index i = 0; i < vectorD.size(); ++i) {
+      if(abs(vectorD(i)) > tolerance)
+	dst.row(i) /= vectorD(i);
+      else
+	dst.row(i).setZero();
+    }
 
     // dst = L^-T (D^-1 L^-1 P b)
     dec().matrixU().solveInPlace(dst);

eigenlib/Eigen/src/Core/Array.h

@@ -68,10 +68,8 @@ class Array
     friend struct internal::conservative_resize_like_impl;
 
     using Base::m_storage;
+
   public:
-    enum { NeedsToAlign = (!(Options&DontAlign))
-                          && SizeAtCompileTime!=Dynamic && ((static_cast<int>(sizeof(Scalar))*SizeAtCompileTime)%16)==0 };
-    EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
 
     using Base::base;
     using Base::coeff;

eigenlib/Eigen/src/Core/Block.h

@@ -94,7 +94,7 @@ struct traits<Block<XprType, BlockRows, BlockCols, InnerPanel, HasDirectAccess>
     MaskPacketAccessBit = (InnerSize == Dynamic || (InnerSize % packet_traits<Scalar>::size) == 0)
                        && (InnerStrideAtCompileTime == 1)
                         ? PacketAccessBit : 0,
-    MaskAlignedBit = (InnerPanel && (OuterStrideAtCompileTime!=Dynamic) && ((OuterStrideAtCompileTime % packet_traits<Scalar>::size) == 0)) ? AlignedBit : 0,
+    MaskAlignedBit = (InnerPanel && (OuterStrideAtCompileTime!=Dynamic) && (((OuterStrideAtCompileTime * int(sizeof(Scalar))) % 16) == 0)) ? AlignedBit : 0,
     FlagsLinearAccessBit = (RowsAtCompileTime == 1 || ColsAtCompileTime == 1) ? LinearAccessBit : 0,
     FlagsLvalueBit = is_lvalue<XprType>::value ? LvalueBit : 0,
     FlagsRowMajorBit = IsRowMajor ? RowMajorBit : 0,

eigenlib/Eigen/src/Core/Fuzzy.h

@@ -94,7 +94,7 @@ struct isMuchSmallerThan_scalar_selector<Derived, true>
   *
   * \note The fuzzy compares are done multiplicatively. Two vectors \f$ v \f$ and \f$ w \f$
   * are considered to be approximately equal within precision \f$ p \f$ if
-  * \f[ \Vert v - w \Vert \leqslant p\,\(min)(\Vert v\Vert, \Vert w\Vert). \f]
+  * \f[ \Vert v - w \Vert \leqslant p\,\min(\Vert v\Vert, \Vert w\Vert). \f]
   * For matrices, the comparison is done using the Hilbert-Schmidt norm (aka Frobenius norm
   * L2 norm).
   *

eigenlib/Eigen/src/Core/Map.h

@@ -34,7 +34,7 @@
   * \tparam PlainObjectType the equivalent matrix type of the mapped data
   * \tparam MapOptions specifies whether the pointer is \c #Aligned, or \c #Unaligned.
   *                The default is \c #Unaligned.
-  * \tparam StrideType optionnally specifies strides. By default, Map assumes the memory layout
+  * \tparam StrideType optionally specifies strides. By default, Map assumes the memory layout
   *                   of an ordinary, contiguous array. This can be overridden by specifying strides.
   *                   The type passed here must be a specialization of the Stride template, see examples below.
   *
@@ -72,9 +72,9 @@
   * Example: \include Map_placement_new.cpp
   * Output: \verbinclude Map_placement_new.out
   *
-  * This class is the return type of Matrix::Map() but can also be used directly.
+  * This class is the return type of PlainObjectBase::Map() but can also be used directly.
   *
-  * \sa Matrix::Map(), \ref TopicStorageOrders
+  * \sa PlainObjectBase::Map(), \ref TopicStorageOrders
   */
 
 namespace internal {
@@ -102,7 +102,7 @@ struct traits<Map<PlainObjectType, MapOptions, StrideType> >
                            || HasNoOuterStride
                            || ( OuterStrideAtCompileTime!=Dynamic
                            && ((static_cast<int>(sizeof(Scalar))*OuterStrideAtCompileTime)%16)==0 ) ),
-    Flags0 = TraitsBase::Flags,
+    Flags0 = TraitsBase::Flags & (~NestByRefBit),
     Flags1 = IsAligned ? (int(Flags0) | AlignedBit) : (int(Flags0) & ~AlignedBit),
     Flags2 = (bool(HasNoStride) || bool(PlainObjectType::IsVectorAtCompileTime))
            ? int(Flags1) : int(Flags1 & ~LinearAccessBit),
@@ -120,7 +120,6 @@ template<typename PlainObjectType, int MapOptions, typename StrideType> class Ma
   public:
 
     typedef MapBase<Map> Base;
-
     EIGEN_DENSE_PUBLIC_INTERFACE(Map)
 
     typedef typename Base::PointerType PointerType;
@@ -181,7 +180,6 @@ template<typename PlainObjectType, int MapOptions, typename StrideType> class Ma
       PlainObjectType::Base::_check_template_params();
     }
 
-
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Map)
 
   protected:

eigenlib/Eigen/src/Core/MapBase.h

@@ -170,8 +170,8 @@ template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
       EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(internal::traits<Derived>::Flags&PacketAccessBit,
                                         internal::inner_stride_at_compile_time<Derived>::ret==1),
                           PACKET_ACCESS_REQUIRES_TO_HAVE_INNER_STRIDE_FIXED_TO_1);
-      eigen_assert(EIGEN_IMPLIES(internal::traits<Derived>::Flags&AlignedBit, (size_t(m_data) % (sizeof(Scalar)*internal::packet_traits<Scalar>::size)) == 0)
+      eigen_assert(EIGEN_IMPLIES(internal::traits<Derived>::Flags&AlignedBit, (size_t(m_data) % 16) == 0)
-        && "data is not aligned");
+                   && "data is not aligned");
     }
 
     PointerType m_data;

eigenlib/Eigen/src/Core/Matrix.h

@@ -153,10 +153,6 @@ class Matrix
 
     typedef typename Base::PlainObject PlainObject;
 
-    enum { NeedsToAlign = (!(Options&DontAlign))
-                          && SizeAtCompileTime!=Dynamic && ((static_cast<int>(sizeof(Scalar))*SizeAtCompileTime)%16)==0 };
-    EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
-
     using Base::base;
     using Base::coeffRef;
 

eigenlib/Eigen/src/Core/MatrixBase.h

@@ -250,7 +250,8 @@ template<typename Derived> class MatrixBase
     
     // huuuge hack. make Eigen2's matrix.part<Diagonal>() work in eigen3. Problem: Diagonal is now a class template instead
     // of an integer constant. Solution: overload the part() method template wrt template parameters list.
-    template<template<typename T, int n> class U>
+    // Note: replacing next line by "template<template<typename T, int n> class U>" produces a mysterious error C2082 in MSVC.
+    template<template<typename, int> class U>
     const DiagonalWrapper<ConstDiagonalReturnType> part() const
     { return diagonal().asDiagonal(); }
     #endif // EIGEN2_SUPPORT

eigenlib/Eigen/src/Core/PlainObjectBase.h

@@ -34,6 +34,19 @@
 
 namespace internal {
 
+template<typename Index>
+EIGEN_ALWAYS_INLINE void check_rows_cols_for_overflow(Index rows, Index cols)
+{
+  // http://hg.mozilla.org/mozilla-central/file/6c8a909977d3/xpcom/ds/CheckedInt.h#l242
+  // we assume Index is signed
+  Index max_index = (size_t(1) << (8 * sizeof(Index) - 1)) - 1; // assume Index is signed
+  bool error = (rows < 0  || cols < 0)  ? true
+             : (rows == 0 || cols == 0) ? false
+                                        : (rows > max_index / cols);
+  if (error)
+    throw_std_bad_alloc();
+}
+
 template <typename Derived, typename OtherDerived = Derived, bool IsVector = static_cast<bool>(Derived::IsVectorAtCompileTime)> struct conservative_resize_like_impl;
 
 template<typename MatrixTypeA, typename MatrixTypeB, bool SwapPointers> struct matrix_swap_impl;
@@ -85,13 +98,11 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
     template<typename StrideType> struct StridedAlignedMapType { typedef Eigen::Map<Derived, Aligned, StrideType> type; };
     template<typename StrideType> struct StridedConstAlignedMapType { typedef Eigen::Map<const Derived, Aligned, StrideType> type; };
 
-
   protected:
     DenseStorage<Scalar, Base::MaxSizeAtCompileTime, Base::RowsAtCompileTime, Base::ColsAtCompileTime, Options> m_storage;
 
   public:
-    enum { NeedsToAlign = (!(Options&DontAlign))
+    enum { NeedsToAlign = SizeAtCompileTime != Dynamic && (internal::traits<Derived>::Flags & AlignedBit) != 0 };
-                          && SizeAtCompileTime!=Dynamic && ((static_cast<int>(sizeof(Scalar))*SizeAtCompileTime)%16)==0 };
     EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
 
     Base& base() { return *static_cast<Base*>(this); }
@@ -200,11 +211,13 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
     EIGEN_STRONG_INLINE void resize(Index rows, Index cols)
     {
       #ifdef EIGEN_INITIALIZE_MATRICES_BY_ZERO
+        internal::check_rows_cols_for_overflow(rows, cols);
         Index size = rows*cols;
         bool size_changed = size != this->size();
         m_storage.resize(size, rows, cols);
         if(size_changed) EIGEN_INITIALIZE_BY_ZERO_IF_THAT_OPTION_IS_ENABLED
       #else
+        internal::check_rows_cols_for_overflow(rows, cols);
         m_storage.resize(rows*cols, rows, cols);
       #endif
     }
@@ -273,6 +286,7 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
     EIGEN_STRONG_INLINE void resizeLike(const EigenBase<OtherDerived>& _other)
     {
       const OtherDerived& other = _other.derived();
+      internal::check_rows_cols_for_overflow(other.rows(), other.cols());
       const Index othersize = other.rows()*other.cols();
       if(RowsAtCompileTime == 1)
       {
@@ -417,6 +431,7 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       : m_storage(other.derived().rows() * other.derived().cols(), other.derived().rows(), other.derived().cols())
     {
       _check_template_params();
+      internal::check_rows_cols_for_overflow(other.derived().rows(), other.derived().cols());
       Base::operator=(other.derived());
     }
 
@@ -425,9 +440,6 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       * while the AlignedMap() functions return aligned Map objects and thus should be called only with 16-byte-aligned
       * \a data pointers.
       *
-      * These methods do not allow to specify strides. If you need to specify strides, you have to
-      * use the Map class directly.
-      *
       * \see class Map
       */
     //@{
@@ -584,6 +596,7 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
     {
       eigen_assert(rows >= 0 && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == rows)
              && cols >= 0 && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == cols));
+      internal::check_rows_cols_for_overflow(rows, cols);      
       m_storage.resize(rows*cols,rows,cols);
       EIGEN_INITIALIZE_BY_ZERO_IF_THAT_OPTION_IS_ENABLED
     }
@@ -641,6 +654,7 @@ struct internal::conservative_resize_like_impl
     if ( ( Derived::IsRowMajor && _this.cols() == cols) || // row-major and we change only the number of rows
          (!Derived::IsRowMajor && _this.rows() == rows) )  // column-major and we change only the number of columns
     {
+      internal::check_rows_cols_for_overflow(rows, cols);
       _this.derived().m_storage.conservativeResize(rows*cols,rows,cols);
     }
     else

eigenlib/Eigen/src/Core/ProductBase.h

@@ -256,16 +256,16 @@ class ScaledProduct
     : Base(prod.lhs(),prod.rhs()), m_prod(prod), m_alpha(x) {}
 
     template<typename Dest>
-    inline void evalTo(Dest& dst) const { dst.setZero(); scaleAndAddTo(dst,m_alpha); }
+    inline void evalTo(Dest& dst) const { dst.setZero(); scaleAndAddTo(dst, Scalar(1)); }
 
     template<typename Dest>
-    inline void addTo(Dest& dst) const { scaleAndAddTo(dst,m_alpha); }
+    inline void addTo(Dest& dst) const { scaleAndAddTo(dst, Scalar(1)); }
 
     template<typename Dest>
-    inline void subTo(Dest& dst) const { scaleAndAddTo(dst,-m_alpha); }
+    inline void subTo(Dest& dst) const { scaleAndAddTo(dst, Scalar(-1)); }
 
     template<typename Dest>
-    inline void scaleAndAddTo(Dest& dst,Scalar alpha) const { m_prod.derived().scaleAndAddTo(dst,alpha); }
+    inline void scaleAndAddTo(Dest& dst,Scalar alpha) const { m_prod.derived().scaleAndAddTo(dst,alpha * m_alpha); }
 
     const Scalar& alpha() const { return m_alpha; }
     

eigenlib/Eigen/src/Core/SolveTriangular.h

@@ -180,7 +180,7 @@ void TriangularView<MatrixType,Mode>::solveInPlace(const MatrixBase<OtherDerived
   eigen_assert(cols() == rows());
   eigen_assert( (Side==OnTheLeft && cols() == other.rows()) || (Side==OnTheRight && cols() == other.cols()) );
   eigen_assert(!(Mode & ZeroDiag));
-  eigen_assert(Mode & (Upper|Lower));
+  eigen_assert((Mode & (Upper|Lower)) != 0);
 
   enum { copy = internal::traits<OtherDerived>::Flags & RowMajorBit  && OtherDerived::IsVectorAtCompileTime };
   typedef typename internal::conditional<copy,

eigenlib/Eigen/src/Core/arch/NEON/Complex.h

@@ -27,8 +27,8 @@
 
 namespace internal {
 
-static uint32x4_t p4ui_CONJ_XOR = { 0x00000000, 0x80000000, 0x00000000, 0x80000000 };
+static uint32x4_t p4ui_CONJ_XOR = EIGEN_INIT_NEON_PACKET4(0x00000000, 0x80000000, 0x00000000, 0x80000000);
-static uint32x2_t p2ui_CONJ_XOR = { 0x00000000, 0x80000000 };
+static uint32x2_t p2ui_CONJ_XOR = EIGEN_INIT_NEON_PACKET2(0x00000000, 0x80000000);
 
 //---------- float ----------
 struct Packet2cf

eigenlib/Eigen/src/Core/arch/NEON/PacketMath.h

@@ -52,6 +52,16 @@ typedef uint32x4_t  Packet4ui;
 #define _EIGEN_DECLARE_CONST_Packet4i(NAME,X) \
   const Packet4i p4i_##NAME = pset1<Packet4i>(X)
 
+#if defined(__llvm__) && !defined(__clang__)
+  //Special treatment for Apple's llvm-gcc, its NEON packet types are unions
+  #define EIGEN_INIT_NEON_PACKET2(X, Y)       {{X, Y}}
+  #define EIGEN_INIT_NEON_PACKET4(X, Y, Z, W) {{X, Y, Z, W}}
+#else
+  //Default initializer for packets
+  #define EIGEN_INIT_NEON_PACKET2(X, Y)       {X, Y}
+  #define EIGEN_INIT_NEON_PACKET4(X, Y, Z, W) {X, Y, Z, W}
+#endif
+    
 #ifndef __pld
 #define __pld(x) asm volatile ( "   pld [%[addr]]\n" :: [addr] "r" (x) : "cc" );
 #endif
@@ -84,7 +94,7 @@ template<> struct packet_traits<int>    : default_packet_traits
   };
 };
 
-#if EIGEN_GNUC_AT_MOST(4,4)
+#if EIGEN_GNUC_AT_MOST(4,4) && !defined(__llvm__)
 // workaround gcc 4.2, 4.3 and 4.4 compilatin issue
 EIGEN_STRONG_INLINE float32x4_t vld1q_f32(const float* x) { return ::vld1q_f32((const float32_t*)x); }
 EIGEN_STRONG_INLINE float32x2_t vld1_f32 (const float* x) { return ::vld1_f32 ((const float32_t*)x); }
@@ -100,12 +110,12 @@ template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int&    from)   {
 
 template<> EIGEN_STRONG_INLINE Packet4f plset<float>(const float& a)
 {
-  Packet4f countdown = { 0, 1, 2, 3 };
+  Packet4f countdown = EIGEN_INIT_NEON_PACKET4(0, 1, 2, 3);
   return vaddq_f32(pset1<Packet4f>(a), countdown);
 }
 template<> EIGEN_STRONG_INLINE Packet4i plset<int>(const int& a)
 {
-  Packet4i countdown = { 0, 1, 2, 3 };
+  Packet4i countdown = EIGEN_INIT_NEON_PACKET4(0, 1, 2, 3);
   return vaddq_s32(pset1<Packet4i>(a), countdown);
 }
 
@@ -395,25 +405,29 @@ template<> EIGEN_STRONG_INLINE int predux_max<Packet4i>(const Packet4i& a)
   return s[0];
 }
 
-template<int Offset>
+// this PALIGN_NEON business is to work around a bug in LLVM Clang 3.0 causing incorrect compilation errors,
-struct palign_impl<Offset,Packet4f>
+// see bug 347 and this LLVM bug: http://llvm.org/bugs/show_bug.cgi?id=11074
-{
+#define PALIGN_NEON(Offset,Type,Command) \
-  EIGEN_STRONG_INLINE static void run(Packet4f& first, const Packet4f& second)
+template<>\
-  {
+struct palign_impl<Offset,Type>\
-    if (Offset!=0)
+{\
-      first = vextq_f32(first, second, Offset);
+    EIGEN_STRONG_INLINE static void run(Type& first, const Type& second)\
-  }
+    {\
-};
+        if (Offset!=0)\
+            first = Command(first, second, Offset);\
+    }\
+};\
 
-template<int Offset>
+PALIGN_NEON(0,Packet4f,vextq_f32)
-struct palign_impl<Offset,Packet4i>
+PALIGN_NEON(1,Packet4f,vextq_f32)
-{
+PALIGN_NEON(2,Packet4f,vextq_f32)
-  EIGEN_STRONG_INLINE static void run(Packet4i& first, const Packet4i& second)
+PALIGN_NEON(3,Packet4f,vextq_f32)
-  {
+PALIGN_NEON(0,Packet4i,vextq_s32)
-    if (Offset!=0)
+PALIGN_NEON(1,Packet4i,vextq_s32)
-      first = vextq_s32(first, second, Offset);
+PALIGN_NEON(2,Packet4i,vextq_s32)
-  }
+PALIGN_NEON(3,Packet4i,vextq_s32)
-};
+    
+#undef PALIGN_NEON
 
 } // end namespace internal
 

eigenlib/Eigen/src/Core/products/GeneralBlockPanelKernel.h

@@ -30,19 +30,16 @@ namespace internal {
 template<typename _LhsScalar, typename _RhsScalar, bool _ConjLhs=false, bool _ConjRhs=false>
 class gebp_traits;
 
+inline std::ptrdiff_t manage_caching_sizes_second_if_negative(std::ptrdiff_t a, std::ptrdiff_t b)
+{
+  return a<=0 ? b : a;
+}
+
 /** \internal */
 inline void manage_caching_sizes(Action action, std::ptrdiff_t* l1=0, std::ptrdiff_t* l2=0)
 {
-  static std::ptrdiff_t m_l1CacheSize = 0;
+  static std::ptrdiff_t m_l1CacheSize = manage_caching_sizes_second_if_negative(queryL1CacheSize(),8 * 1024);
-  static std::ptrdiff_t m_l2CacheSize = 0;
+  static std::ptrdiff_t m_l2CacheSize = manage_caching_sizes_second_if_negative(queryTopLevelCacheSize(),1*1024*1024);
-  if(m_l1CacheSize==0)
-  {
-    m_l1CacheSize = queryL1CacheSize();
-    m_l2CacheSize = queryTopLevelCacheSize();
-
-    if(m_l1CacheSize<=0) m_l1CacheSize = 8 * 1024;
-    if(m_l2CacheSize<=0) m_l2CacheSize = 1 * 1024 * 1024;
-  }
 
   if(action==SetAction)
   {
@@ -118,14 +115,14 @@ inline void computeProductBlockingSizes(std::ptrdiff_t& k, std::ptrdiff_t& m, st
   // FIXME (a bit overkill maybe ?)
 
   template<typename CJ, typename A, typename B, typename C, typename T> struct gebp_madd_selector {
-    EIGEN_STRONG_INLINE EIGEN_ALWAYS_INLINE_ATTRIB static void run(const CJ& cj, A& a, B& b, C& c, T& /*t*/)
+    EIGEN_ALWAYS_INLINE static void run(const CJ& cj, A& a, B& b, C& c, T& /*t*/)
     {
       c = cj.pmadd(a,b,c);
     }
   };
 
   template<typename CJ, typename T> struct gebp_madd_selector<CJ,T,T,T,T> {
-    EIGEN_STRONG_INLINE EIGEN_ALWAYS_INLINE_ATTRIB static void run(const CJ& cj, T& a, T& b, T& c, T& t)
+    EIGEN_ALWAYS_INLINE static void run(const CJ& cj, T& a, T& b, T& c, T& t)
     {
       t = b; t = cj.pmul(a,t); c = padd(c,t);
     }

eigenlib/Eigen/src/Core/util/Macros.h

@@ -1,3 +1,4 @@
+
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
@@ -28,7 +29,7 @@
 
 #define EIGEN_WORLD_VERSION 3
 #define EIGEN_MAJOR_VERSION 0
-#define EIGEN_MINOR_VERSION 2
+#define EIGEN_MINOR_VERSION 5
 
 #define EIGEN_VERSION_AT_LEAST(x,y,z) (EIGEN_WORLD_VERSION>x || (EIGEN_WORLD_VERSION>=x && \
                                       (EIGEN_MAJOR_VERSION>y || (EIGEN_MAJOR_VERSION>=y && \
@@ -45,7 +46,7 @@
   #define EIGEN_GNUC_AT_MOST(x,y) 0
 #endif
 
-#if EIGEN_GNUC_AT_MOST(4,3)
+#if EIGEN_GNUC_AT_MOST(4,3) && !defined(__clang__)
   // see bug 89
   #define EIGEN_SAFE_TO_USE_STANDARD_ASSERT_MACRO 0
 #else
@@ -130,31 +131,34 @@
 #define EIGEN_MAKESTRING2(a) #a
 #define EIGEN_MAKESTRING(a) EIGEN_MAKESTRING2(a)
 
-// EIGEN_ALWAYS_INLINE_ATTRIB should be use in the declaration of function
-// which should be inlined even in debug mode.
-// FIXME with the always_inline attribute,
-// gcc 3.4.x reports the following compilation error:
-//   Eval.h:91: sorry, unimplemented: inlining failed in call to 'const Eigen::Eval<Derived> Eigen::MatrixBase<Scalar, Derived>::eval() const'
-//    : function body not available
-#if EIGEN_GNUC_AT_LEAST(4,0)
-#define EIGEN_ALWAYS_INLINE_ATTRIB __attribute__((always_inline))
-#else
-#define EIGEN_ALWAYS_INLINE_ATTRIB
-#endif
-
 #if EIGEN_GNUC_AT_LEAST(4,1) && !defined(__clang__) && !defined(__INTEL_COMPILER)
 #define EIGEN_FLATTEN_ATTRIB __attribute__((flatten))
 #else
 #define EIGEN_FLATTEN_ATTRIB
 #endif
 
-// EIGEN_FORCE_INLINE means "inline as much as possible"
+// EIGEN_STRONG_INLINE is a stronger version of the inline, using __forceinline on MSVC,
+// but it still doesn't use GCC's always_inline. This is useful in (common) situations where MSVC needs forceinline
+// but GCC is still doing fine with just inline.
 #if (defined _MSC_VER) || (defined __INTEL_COMPILER)
 #define EIGEN_STRONG_INLINE __forceinline
 #else
 #define EIGEN_STRONG_INLINE inline
 #endif
 
+// EIGEN_ALWAYS_INLINE is the stronget, it has the effect of making the function inline and adding every possible
+// attribute to maximize inlining. This should only be used when really necessary: in particular,
+// it uses __attribute__((always_inline)) on GCC, which most of the time is useless and can severely harm compile times.
+// FIXME with the always_inline attribute,
+// gcc 3.4.x reports the following compilation error:
+//   Eval.h:91: sorry, unimplemented: inlining failed in call to 'const Eigen::Eval<Derived> Eigen::MatrixBase<Scalar, Derived>::eval() const'
+//    : function body not available
+#if EIGEN_GNUC_AT_LEAST(4,0)
+#define EIGEN_ALWAYS_INLINE __attribute__((always_inline)) inline
+#else
+#define EIGEN_ALWAYS_INLINE EIGEN_STRONG_INLINE
+#endif
+
 #if (defined __GNUC__)
 #define EIGEN_DONT_INLINE __attribute__((noinline))
 #elif (defined _MSC_VER)
@@ -249,7 +253,7 @@
 #define EIGEN_UNUSED_VARIABLE(var) (void)var;
 
 #if (defined __GNUC__)
-#define EIGEN_ASM_COMMENT(X)  asm("#"X)
+#define EIGEN_ASM_COMMENT(X)  asm("#" X)
 #else
 #define EIGEN_ASM_COMMENT(X)
 #endif

eigenlib/Eigen/src/Core/util/Memory.h

@@ -82,6 +82,16 @@
 
 namespace internal {
 
+inline void throw_std_bad_alloc()
+{
+  #ifdef EIGEN_EXCEPTIONS
+    throw std::bad_alloc();
+  #else
+    std::size_t huge = -1;
+    new int[huge];
+  #endif
+}
+
 /*****************************************************************************
 *** Implementation of handmade aligned functions                           ***
 *****************************************************************************/
@@ -192,7 +202,7 @@ inline void check_that_malloc_is_allowed()
 #endif
 
 /** \internal Allocates \a size bytes. The returned pointer is guaranteed to have 16 bytes alignment.
-  * On allocation error, the returned pointer is null, and if exceptions are enabled then a std::bad_alloc is thrown.
+  * On allocation error, the returned pointer is null, and std::bad_alloc is thrown.
   */
 inline void* aligned_malloc(size_t size)
 {
@@ -213,10 +223,9 @@ inline void* aligned_malloc(size_t size)
     result = handmade_aligned_malloc(size);
   #endif
 
-  #ifdef EIGEN_EXCEPTIONS
+  if(!result && size)
-    if(result == 0)
+    throw_std_bad_alloc();
-      throw std::bad_alloc();
+
-  #endif
   return result;
 }
 
@@ -241,7 +250,7 @@ inline void aligned_free(void *ptr)
 /**
 * \internal
 * \brief Reallocates an aligned block of memory.
-* \throws std::bad_alloc if EIGEN_EXCEPTIONS are defined.
+* \throws std::bad_alloc on allocation failure
 **/
 inline void* aligned_realloc(void *ptr, size_t new_size, size_t old_size)
 {
@@ -269,10 +278,9 @@ inline void* aligned_realloc(void *ptr, size_t new_size, size_t old_size)
   result = handmade_aligned_realloc(ptr,new_size,old_size);
 #endif
 
-#ifdef EIGEN_EXCEPTIONS
+  if (!result && new_size)
-  if (result==0 && new_size!=0)
+    throw_std_bad_alloc();
-    throw std::bad_alloc();
+
-#endif
   return result;
 }
 
@@ -281,7 +289,7 @@ inline void* aligned_realloc(void *ptr, size_t new_size, size_t old_size)
 *****************************************************************************/
 
 /** \internal Allocates \a size bytes. If Align is true, then the returned ptr is 16-byte-aligned.
-  * On allocation error, the returned pointer is null, and if exceptions are enabled then a std::bad_alloc is thrown.
+  * On allocation error, the returned pointer is null, and a std::bad_alloc is thrown.
   */
 template<bool Align> inline void* conditional_aligned_malloc(size_t size)
 {
@@ -293,9 +301,8 @@ template<> inline void* conditional_aligned_malloc<false>(size_t size)
   check_that_malloc_is_allowed();
 
   void *result = std::malloc(size);
-  #ifdef EIGEN_EXCEPTIONS
+  if(!result && size)
-    if(!result) throw std::bad_alloc();
+    throw_std_bad_alloc();
-  #endif
   return result;
 }
 
@@ -347,18 +354,27 @@ template<typename T> inline void destruct_elements_of_array(T *ptr, size_t size)
 *** Implementation of aligned new/delete-like functions                    ***
 *****************************************************************************/
 
+template<typename T>
+EIGEN_ALWAYS_INLINE void check_size_for_overflow(size_t size)
+{
+  if(size > size_t(-1) / sizeof(T))
+    throw_std_bad_alloc();
+}
+
 /** \internal Allocates \a size objects of type T. The returned pointer is guaranteed to have 16 bytes alignment.
-  * On allocation error, the returned pointer is undefined, but if exceptions are enabled then a std::bad_alloc is thrown.
+  * On allocation error, the returned pointer is undefined, but a std::bad_alloc is thrown.
   * The default constructor of T is called.
   */
 template<typename T> inline T* aligned_new(size_t size)
 {
+  check_size_for_overflow<T>(size);
   T *result = reinterpret_cast<T*>(aligned_malloc(sizeof(T)*size));
   return construct_elements_of_array(result, size);
 }
 
 template<typename T, bool Align> inline T* conditional_aligned_new(size_t size)
 {
+  check_size_for_overflow<T>(size);
   T *result = reinterpret_cast<T*>(conditional_aligned_malloc<Align>(sizeof(T)*size));
   return construct_elements_of_array(result, size);
 }
@@ -383,6 +399,8 @@ template<typename T, bool Align> inline void conditional_aligned_delete(T *ptr,
 
 template<typename T, bool Align> inline T* conditional_aligned_realloc_new(T* pts, size_t new_size, size_t old_size)
 {
+  check_size_for_overflow<T>(new_size);
+  check_size_for_overflow<T>(old_size);
   if(new_size < old_size)
     destruct_elements_of_array(pts+new_size, old_size-new_size);
   T *result = reinterpret_cast<T*>(conditional_aligned_realloc<Align>(reinterpret_cast<void*>(pts), sizeof(T)*new_size, sizeof(T)*old_size));
@@ -394,6 +412,7 @@ template<typename T, bool Align> inline T* conditional_aligned_realloc_new(T* pt
 
 template<typename T, bool Align> inline T* conditional_aligned_new_auto(size_t size)
 {
+  check_size_for_overflow<T>(size);
   T *result = reinterpret_cast<T*>(conditional_aligned_malloc<Align>(sizeof(T)*size));
   if(NumTraits<T>::RequireInitialization)
     construct_elements_of_array(result, size);
@@ -402,6 +421,8 @@ template<typename T, bool Align> inline T* conditional_aligned_new_auto(size_t s
 
 template<typename T, bool Align> inline T* conditional_aligned_realloc_new_auto(T* pts, size_t new_size, size_t old_size)
 {
+  check_size_for_overflow<T>(new_size);
+  check_size_for_overflow<T>(old_size);
   if(NumTraits<T>::RequireInitialization && (new_size < old_size))
     destruct_elements_of_array(pts+new_size, old_size-new_size);
   T *result = reinterpret_cast<T*>(conditional_aligned_realloc<Align>(reinterpret_cast<void*>(pts), sizeof(T)*new_size, sizeof(T)*old_size));
@@ -536,6 +557,7 @@ template<typename T> class aligned_stack_memory_handler
   #endif
 
   #define ei_declare_aligned_stack_constructed_variable(TYPE,NAME,SIZE,BUFFER) \
+    Eigen::internal::check_size_for_overflow<TYPE>(SIZE); \
     TYPE* NAME = (BUFFER)!=0 ? (BUFFER) \
                : reinterpret_cast<TYPE*>( \
                       (sizeof(TYPE)*SIZE<=EIGEN_STACK_ALLOCATION_LIMIT) ? EIGEN_ALIGNED_ALLOCA(sizeof(TYPE)*SIZE) \
@@ -545,6 +567,7 @@ template<typename T> class aligned_stack_memory_handler
 #else
 
   #define ei_declare_aligned_stack_constructed_variable(TYPE,NAME,SIZE,BUFFER) \
+    Eigen::internal::check_size_for_overflow<TYPE>(SIZE); \
     TYPE* NAME = (BUFFER)!=0 ? BUFFER : reinterpret_cast<TYPE*>(Eigen::internal::aligned_malloc(sizeof(TYPE)*SIZE));    \
     Eigen::internal::aligned_stack_memory_handler<TYPE> EIGEN_CAT(NAME,_stack_memory_destructor)((BUFFER)==0 ? NAME : 0,SIZE,true)
     
@@ -669,6 +692,7 @@ public:
     pointer allocate( size_type num, const void* hint = 0 )
     {
         EIGEN_UNUSED_VARIABLE(hint);
+        internal::check_size_for_overflow<T>(num);
         return static_cast<pointer>( internal::aligned_malloc( num * sizeof(T) ) );
     }
 

eigenlib/Eigen/src/Core/util/XprHelper.h

@@ -125,10 +125,9 @@ class compute_matrix_flags
       aligned_bit =
       (
             ((Options&DontAlign)==0)
-        &&  packet_traits<Scalar>::Vectorizable
         && (
 #if EIGEN_ALIGN_STATICALLY
-             ((!is_dynamic_size_storage) && (((MaxCols*MaxRows) % packet_traits<Scalar>::size) == 0))
+             ((!is_dynamic_size_storage) && (((MaxCols*MaxRows*int(sizeof(Scalar))) % 16) == 0))
 #else
              0
 #endif

eigenlib/Eigen/src/Eigen2Support/Geometry/AlignedBox.h

@@ -51,19 +51,19 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==
   { if (AmbientDimAtCompileTime!=Dynamic) setNull(); }
 
   /** Constructs a null box with \a _dim the dimension of the ambient space. */
-  inline explicit AlignedBox(int _dim) : m_(min)(_dim), m_(max)(_dim)
+  inline explicit AlignedBox(int _dim) : m_min(_dim), m_max(_dim)
   { setNull(); }
 
   /** Constructs a box with extremities \a _min and \a _max. */
-  inline AlignedBox(const VectorType& _min, const VectorType& _max) : m_(min)(_min), m_(max)(_max) {}
+  inline AlignedBox(const VectorType& _min, const VectorType& _max) : m_min(_min), m_max(_max) {}
 
   /** Constructs a box containing a single point \a p. */
-  inline explicit AlignedBox(const VectorType& p) : m_(min)(p), m_(max)(p) {}
+  inline explicit AlignedBox(const VectorType& p) : m_min(p), m_max(p) {}
 
   ~AlignedBox() {}
 
   /** \returns the dimension in which the box holds */
-  inline int dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size()-1 : AmbientDimAtCompileTime; }
+  inline int dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size()-1 : int(AmbientDimAtCompileTime); }
 
   /** \returns true if the box is null, i.e, empty. */
   inline bool isNull() const { return (m_min.cwise() > m_max).any(); }
@@ -71,8 +71,8 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==
   /** Makes \c *this a null/empty box. */
   inline void setNull()
   {
-    m_min.setConstant( std::numeric_limits<Scalar>::(max)());
+    m_min.setConstant( (std::numeric_limits<Scalar>::max)());
-    m_max.setConstant(-std::numeric_limits<Scalar>::(max)());
+    m_max.setConstant(-(std::numeric_limits<Scalar>::max)());
   }
 
   /** \returns the minimal corner */
@@ -90,19 +90,19 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==
 
   /** \returns true if the box \a b is entirely inside the box \c *this. */
   inline bool contains(const AlignedBox& b) const
-  { return (m_min.cwise()<=b.(min)()).all() && (b.(max)().cwise()<=m_max).all(); }
+  { return (m_min.cwise()<=(b.min)()).all() && ((b.max)().cwise()<=m_max).all(); }
 
   /** Extends \c *this such that it contains the point \a p and returns a reference to \c *this. */
   inline AlignedBox& extend(const VectorType& p)
-  { m_min = m_min.cwise().(min)(p); m_max = m_max.cwise().(max)(p); return *this; }
+  { m_min = (m_min.cwise().min)(p); m_max = (m_max.cwise().max)(p); return *this; }
 
   /** Extends \c *this such that it contains the box \a b and returns a reference to \c *this. */
   inline AlignedBox& extend(const AlignedBox& b)
-  { m_min = m_min.cwise().(min)(b.m_min); m_max = m_max.cwise().(max)(b.m_max); return *this; }
+  { m_min = (m_min.cwise().min)(b.m_min); m_max = (m_max.cwise().max)(b.m_max); return *this; }
 
   /** Clamps \c *this by the box \a b and returns a reference to \c *this. */
   inline AlignedBox& clamp(const AlignedBox& b)
-  { m_min = m_min.cwise().(max)(b.m_min); m_max = m_max.cwise().(min)(b.m_max); return *this; }
+  { m_min = (m_min.cwise().max)(b.m_min); m_max = (m_max.cwise().min)(b.m_max); return *this; }
 
   /** Translate \c *this by the vector \a t and returns a reference to \c *this. */
   inline AlignedBox& translate(const VectorType& t)
@@ -138,8 +138,8 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==
   template<typename OtherScalarType>
   inline explicit AlignedBox(const AlignedBox<OtherScalarType,AmbientDimAtCompileTime>& other)
   {
-    m_min = other.(min)().template cast<Scalar>();
+    m_min = (other.min)().template cast<Scalar>();
-    m_max = other.(max)().template cast<Scalar>();
+    m_max = (other.max)().template cast<Scalar>();
   }
 
   /** \returns \c true if \c *this is approximately equal to \a other, within the precision

eigenlib/Eigen/src/Eigenvalues/EigenSolver.h

@@ -291,7 +291,7 @@ template<typename _MatrixType> class EigenSolver
 
     ComputationInfo info() const
     {
-      eigen_assert(m_isInitialized && "ComplexEigenSolver is not initialized.");
+      eigen_assert(m_isInitialized && "EigenSolver is not initialized.");
       return m_realSchur.info();
     }
 
@@ -339,7 +339,7 @@ typename EigenSolver<MatrixType>::EigenvectorsType EigenSolver<MatrixType>::eige
   EigenvectorsType matV(n,n);
   for (Index j=0; j<n; ++j)
   {
-    if (internal::isMuchSmallerThan(internal::imag(m_eivalues.coeff(j)), internal::real(m_eivalues.coeff(j))))
+    if (internal::isMuchSmallerThan(internal::imag(m_eivalues.coeff(j)), internal::real(m_eivalues.coeff(j))) || j+1==n)
     {
       // we have a real eigen value
       matV.col(j) = m_eivec.col(j).template cast<ComplexScalar>();
@@ -570,10 +570,13 @@ void EigenSolver<MatrixType>::doComputeEigenvectors()
 
         }
       }
+      
+      // We handled a pair of complex conjugate eigenvalues, so need to skip them both
+      n--;
     }
     else
     {
-      eigen_assert("Internal bug in EigenSolver"); // this should not happen
+      eigen_assert(0 && "Internal bug in EigenSolver"); // this should not happen
     }
   }
 

eigenlib/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h

@@ -307,7 +307,8 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
 
     /** \brief Maximum number of iterations.
       *
-      * Maximum number of iterations allowed for an eigenvalue to converge.
+      * The algorithm terminates if it does not converge within m_maxIterations * n iterations, where n
+      * denotes the size of the matrix. This value is currently set to 30 (copied from LAPACK).
       */
     static const int m_maxIterations = 30;
 
@@ -407,7 +408,7 @@ SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
   
   Index end = n-1;
   Index start = 0;
-  Index iter = 0; // number of iterations we are working on one element
+  Index iter = 0; // total number of iterations
 
   while (end>0)
   {
@@ -418,15 +419,14 @@ SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
     // find the largest unreduced block
     while (end>0 && m_subdiag[end-1]==0)
     {
-      iter = 0;
       end--;
     }
     if (end<=0)
       break;
 
-    // if we spent too many iterations on the current element, we give up
+    // if we spent too many iterations, we give up
     iter++;
-    if(iter > m_maxIterations) break;
+    if(iter > m_maxIterations * n) break;
 
     start = end - 1;
     while (start>0 && m_subdiag[start-1]!=0)
@@ -435,7 +435,7 @@ SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
     internal::tridiagonal_qr_step<MatrixType::Flags&RowMajorBit ? RowMajor : ColMajor>(diag.data(), m_subdiag.data(), start, end, computeEigenvectors ? m_eivec.data() : (Scalar*)0, n);
   }
 
-  if (iter <= m_maxIterations)
+  if (iter <= m_maxIterations * n)
     m_info = Success;
   else
     m_info = NoConvergence;

eigenlib/Eigen/src/Geometry/Hyperplane.h

@@ -225,7 +225,7 @@ public:
       normal() = mat * normal();
     else
     {
-      eigen_assert("invalid traits value in Hyperplane::transform()");
+      eigen_assert(0 && "invalid traits value in Hyperplane::transform()");
     }
     return *this;
   }

eigenlib/Eigen/src/Geometry/Quaternion.h

@@ -182,8 +182,7 @@ public:
   template<typename NewScalarType>
   inline typename internal::cast_return_type<Derived,Quaternion<NewScalarType> >::type cast() const
   {
-    return typename internal::cast_return_type<Derived,Quaternion<NewScalarType> >::type(
+    return typename internal::cast_return_type<Derived,Quaternion<NewScalarType> >::type(derived());
-      coeffs().template cast<NewScalarType>());
   }
 
 #ifdef EIGEN_QUATERNIONBASE_PLUGIN
@@ -225,22 +224,25 @@ struct traits<Quaternion<_Scalar,_Options> >
   typedef _Scalar Scalar;
   typedef Matrix<_Scalar,4,1,_Options> Coefficients;
   enum{
-    IsAligned = bool(EIGEN_ALIGN) && ((int(_Options)&Aligned)==Aligned),
+    IsAligned = internal::traits<Coefficients>::Flags & AlignedBit,
     Flags = IsAligned ? (AlignedBit | LvalueBit) : LvalueBit
   };
 };
 }
 
 template<typename _Scalar, int _Options>
-class Quaternion : public QuaternionBase<Quaternion<_Scalar,_Options> >{
+class Quaternion : public QuaternionBase<Quaternion<_Scalar,_Options> >
+{
   typedef QuaternionBase<Quaternion<_Scalar,_Options> > Base;
+  enum { IsAligned = internal::traits<Quaternion>::IsAligned };
+
 public:
   typedef _Scalar Scalar;
 
   EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Quaternion)
   using Base::operator*=;
 
-  typedef typename internal::traits<Quaternion<Scalar,_Options> >::Coefficients Coefficients;
+  typedef typename internal::traits<Quaternion>::Coefficients Coefficients;
   typedef typename Base::AngleAxisType AngleAxisType;
 
   /** Default constructor leaving the quaternion uninitialized. */
@@ -271,9 +273,16 @@ public:
   template<typename Derived>
   explicit inline Quaternion(const MatrixBase<Derived>& other) { *this = other; }
 
+  /** Explicit copy constructor with scalar conversion */
+  template<typename OtherScalar, int OtherOptions>
+  explicit inline Quaternion(const Quaternion<OtherScalar, OtherOptions>& other)
+  { m_coeffs = other.coeffs().template cast<Scalar>(); }
+
   inline Coefficients& coeffs() { return m_coeffs;}
   inline const Coefficients& coeffs() const { return m_coeffs;}
 
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(IsAligned)
+
 protected:
   Coefficients m_coeffs;
   
@@ -673,7 +682,7 @@ QuaternionBase<Derived>::slerp(Scalar t, const QuaternionBase<OtherDerived>& oth
   Scalar scale0;
   Scalar scale1;
 
-  if (absD>=one)
+  if(absD>=one)
   {
     scale0 = Scalar(1) - t;
     scale1 = t;
@@ -686,9 +695,8 @@ QuaternionBase<Derived>::slerp(Scalar t, const QuaternionBase<OtherDerived>& oth
 
     scale0 = internal::sin( ( Scalar(1) - t ) * theta) / sinTheta;
     scale1 = internal::sin( ( t * theta) ) / sinTheta;
-    if (d<0)
-      scale1 = -scale1;
   }
+  if(d<0) scale1 = -scale1;
 
   return Quaternion<Scalar>(scale0 * coeffs() + scale1 * other.coeffs());
 }

eigenlib/Eigen/src/Geometry/Rotation2D.h

@@ -89,7 +89,7 @@ public:
 
   /** Concatenates two rotations */
   inline Rotation2D& operator*=(const Rotation2D& other)
-  { return m_angle += other.m_angle; return *this; }
+  { m_angle += other.m_angle; return *this; }
 
   /** Applies the rotation to a 2D vector */
   Vector2 operator* (const Vector2& vec) const

eigenlib/Eigen/src/LU/FullPivLU.h

@@ -443,7 +443,6 @@ FullPivLU<MatrixType>& FullPivLU<MatrixType>::compute(const MatrixType& matrix)
 
   m_nonzero_pivots = size; // the generic case is that in which all pivots are nonzero (invertible case)
   m_maxpivot = RealScalar(0);
-  RealScalar cutoff(0);
 
   for(Index k = 0; k < size; ++k)
   {
@@ -458,14 +457,7 @@ FullPivLU<MatrixType>& FullPivLU<MatrixType>::compute(const MatrixType& matrix)
     row_of_biggest_in_corner += k; // correct the values! since they were computed in the corner,
     col_of_biggest_in_corner += k; // need to add k to them.
 
-    // when k==0, biggest_in_corner is the biggest coeff absolute value in the original matrix
+    if(biggest_in_corner==RealScalar(0))
-    if(k == 0) cutoff = biggest_in_corner * NumTraits<Scalar>::epsilon();
-
-    // if the pivot (hence the corner) is "zero", terminate to avoid generating nan/inf values.
-    // Notice that using an exact comparison (biggest_in_corner==0) here, as Golub-van Loan do in
-    // their pseudo-code, results in numerical instability! The cutoff here has been validated
-    // by running the unit test 'lu' with many repetitions.
-    if(biggest_in_corner < cutoff)
     {
       // before exiting, make sure to initialize the still uninitialized transpositions
       // in a sane state without destroying what we already have.

eigenlib/Eigen/src/LU/arch/Inverse_SSE.h

@@ -55,7 +55,7 @@ struct compute_inverse_size4<Architecture::SSE, float, MatrixType, ResultType>
   
   static void run(const MatrixType& matrix, ResultType& result)
   {
-    EIGEN_ALIGN16 const  int _Sign_PNNP[4] = { 0x00000000, 0x80000000, 0x80000000, 0x00000000 };
+    EIGEN_ALIGN16 const unsigned int _Sign_PNNP[4] = { 0x00000000, 0x80000000, 0x80000000, 0x00000000 };
 
     // Load the full matrix into registers
     __m128 _L1 = matrix.template packet<MatrixAlignment>( 0);

eigenlib/Eigen/src/SVD/JacobiSVD.h

@@ -590,6 +590,9 @@ JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType& matrix, unsig
   // only worsening the precision of U and V as we accumulate more rotations
   const RealScalar precision = RealScalar(2) * NumTraits<Scalar>::epsilon();
 
+  // limit for very small denormal numbers to be considered zero in order to avoid infinite loops (see bug 286)
+  const RealScalar considerAsZero = RealScalar(2) * std::numeric_limits<RealScalar>::denorm_min();
+
   /*** step 1. The R-SVD step: we use a QR decomposition to reduce to the case of a square matrix */
 
   if(!internal::qr_preconditioner_impl<MatrixType, QRPreconditioner, internal::PreconditionIfMoreColsThanRows>::run(*this, matrix)
@@ -617,10 +620,11 @@ JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType& matrix, unsig
       {
         // if this 2x2 sub-matrix is not diagonal already...
         // notice that this comparison will evaluate to false if any NaN is involved, ensuring that NaN's don't
-        // keep us iterating forever.
+        // keep us iterating forever. Similarly, small denormal numbers are considered zero.
         using std::max;
-        if((max)(internal::abs(m_workMatrix.coeff(p,q)),internal::abs(m_workMatrix.coeff(q,p)))
+        RealScalar threshold = (max)(considerAsZero, precision * (max)(internal::abs(m_workMatrix.coeff(p,p)),
-            > (max)(internal::abs(m_workMatrix.coeff(p,p)),internal::abs(m_workMatrix.coeff(q,q)))*precision)
+                                                                       internal::abs(m_workMatrix.coeff(q,q))));
+        if((max)(internal::abs(m_workMatrix.coeff(p,q)),internal::abs(m_workMatrix.coeff(q,p))) > threshold)
         {
           finished = false;
 
@@ -704,6 +708,13 @@ struct solve_retval<JacobiSVD<_MatrixType, QRPreconditioner>, Rhs>
 };
 } // end namespace internal
 
+/** \svd_module
+  *
+  * \return the singular value decomposition of \c *this computed by two-sided
+  * Jacobi transformations.
+  *
+  * \sa class JacobiSVD
+  */
 template<typename Derived>
 JacobiSVD<typename MatrixBase<Derived>::PlainObject>
 MatrixBase<Derived>::jacobiSvd(unsigned int computationOptions) const

eigenlib/Eigen/src/Sparse/TriangularSolver.h

@@ -171,7 +171,7 @@ void SparseTriangularView<ExpressionType,Mode>::solveInPlace(MatrixBase<OtherDer
   eigen_assert(m_matrix.cols() == m_matrix.rows());
   eigen_assert(m_matrix.cols() == other.rows());
   eigen_assert(!(Mode & ZeroDiag));
-  eigen_assert(Mode & (Upper|Lower));
+  eigen_assert((Mode & (Upper|Lower)) != 0);
 
   enum { copy = internal::traits<OtherDerived>::Flags & RowMajorBit };
 
@@ -298,7 +298,7 @@ void SparseTriangularView<ExpressionType,Mode>::solveInPlace(SparseMatrixBase<Ot
   eigen_assert(m_matrix.cols() == m_matrix.rows());
   eigen_assert(m_matrix.cols() == other.rows());
   eigen_assert(!(Mode & ZeroDiag));
-  eigen_assert(Mode & (Upper|Lower));
+  eigen_assert((Mode & (Upper|Lower)) != 0);
 
 //   enum { copy = internal::traits<OtherDerived>::Flags & RowMajorBit };
 

eigenlib/howto.txt

@@ -0,0 +1,7 @@
+Current Eigen Version 3.05 (10.02.2012)
+To update the lib:
+- download Eigen
+- unzip it somewhere
+- copy the two folders 'Eigen' and 'unsupported' here 
+- update this file
+- commit

eigenlib/unsupported/Eigen/FFT

@@ -331,7 +331,7 @@ class FFT
         // if the vector is strided, then we need to copy it to a packed temporary
         Matrix<src_type,1,Dynamic> tmp;
         if ( resize_input ) {
-          size_t ncopy = std::min(src.size(),src.size() + resize_input);
+          size_t ncopy = (std::min)(src.size(),src.size() + resize_input);
           tmp.setZero(src.size() + resize_input);
           if ( realfft && HasFlag(HalfSpectrum) ) {
             // pad at the Nyquist bin

eigenlib/unsupported/Eigen/MPRealSupport

@@ -35,7 +35,8 @@
 
 namespace Eigen {
 
-  /** \defgroup MPRealSupport_Module MPFRC++ Support module
+  /** \ingroup Unsupported_modules
+    * \defgroup MPRealSupport_Module MPFRC++ Support module
     *
     * \code
     * #include <Eigen/MPRealSupport>

eigenlib/unsupported/Eigen/src/BVH/BVAlgorithms.h

@@ -231,7 +231,7 @@ private:
 template<typename BVH, typename Minimizer>
 typename Minimizer::Scalar BVMinimize(const BVH &tree, Minimizer &minimizer)
 {
-  return internal::minimize_helper(tree, minimizer, tree.getRootIndex(), std::numeric_limits<typename Minimizer::Scalar>::max());
+  return internal::minimize_helper(tree, minimizer, tree.getRootIndex(), (std::numeric_limits<typename Minimizer::Scalar>::max)());
 }
 
 /**  Given two BVH's, runs the query on their cartesian product encapsulated by \a minimizer.
@@ -264,7 +264,7 @@ typename Minimizer::Scalar BVMinimize(const BVH1 &tree1, const BVH2 &tree2, Mini
   ObjIter2 oBegin2 = ObjIter2(), oEnd2 = ObjIter2(), oCur2 = ObjIter2();
   std::priority_queue<QueueElement, std::vector<QueueElement>, std::greater<QueueElement> > todo; //smallest is at the top
 
-  Scalar minimum = std::numeric_limits<Scalar>::max();
+  Scalar minimum = (std::numeric_limits<Scalar>::max)();
   todo.push(std::make_pair(Scalar(), std::make_pair(tree1.getRootIndex(), tree2.getRootIndex())));
 
   while(!todo.empty()) {

eigenlib/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h

@@ -259,7 +259,7 @@ void MatrixExponential<MatrixType>::computeUV(float)
     pade5(m_M);
   } else {
     const float maxnorm = 3.925724783138660f;
-    m_squarings = max(0, (int)ceil(log2(m_l1norm / maxnorm)));
+    m_squarings = (max)(0, (int)ceil(log2(m_l1norm / maxnorm)));
     MatrixType A = m_M / pow(Scalar(2), Scalar(static_cast<RealScalar>(m_squarings)));
     pade7(A);
   }
@@ -281,7 +281,7 @@ void MatrixExponential<MatrixType>::computeUV(double)
     pade9(m_M);
   } else {
     const double maxnorm = 5.371920351148152;
-    m_squarings = max(0, (int)ceil(log2(m_l1norm / maxnorm)));
+    m_squarings = (max)(0, (int)ceil(log2(m_l1norm / maxnorm)));
     MatrixType A = m_M / pow(Scalar(2), Scalar(m_squarings));
     pade13(A);
   }

eigenlib/unsupported/doc/Overview.dox

@@ -1,13 +1,22 @@
 namespace Eigen {
 
-o /** \mainpage Eigen's unsupported modules
+/** \mainpage Eigen's unsupported modules
 
 This is the API documentation for Eigen's unsupported modules.
 
 These modules are contributions from various users. They are provided "as is", without any support.
 
+Click on the \e Modules tab at the top of this page to get a list of all unsupported modules.
+
 Don't miss the <a href="..//index.html">official Eigen documentation</a>.
 
+
+\defgroup Unsupported_modules Unsupported modules
+
+The unsupported modules are contributions from various users. They are
+provided "as is", without any support. Nevertheless, some of them are
+subject to be included in Eigen in the future.
+
 */
 
 }

eigenlib/unsupported/test/BVH.cpp

@@ -90,13 +90,13 @@ struct BallPointStuff //this class provides functions to be both an intersector
   }
 
   double minimumOnVolume(const BoxType &r) { ++calls; return r.squaredExteriorDistance(p); }
-  double minimumOnObject(const BallType &b) { ++calls; return std::max(0., (b.center - p).squaredNorm() - SQR(b.radius)); }
+  double minimumOnObject(const BallType &b) { ++calls; return (std::max)(0., (b.center - p).squaredNorm() - SQR(b.radius)); }
   double minimumOnVolumeVolume(const BoxType &r1, const BoxType &r2) { ++calls; return r1.squaredExteriorDistance(r2); }
-  double minimumOnVolumeObject(const BoxType &r, const BallType &b) { ++calls; return SQR(std::max(0., r.exteriorDistance(b.center) - b.radius)); }
+  double minimumOnVolumeObject(const BoxType &r, const BallType &b) { ++calls; return SQR((std::max)(0., r.exteriorDistance(b.center) - b.radius)); }
-  double minimumOnObjectVolume(const BallType &b, const BoxType &r) { ++calls; return SQR(std::max(0., r.exteriorDistance(b.center) - b.radius)); }
+  double minimumOnObjectVolume(const BallType &b, const BoxType &r) { ++calls; return SQR((std::max)(0., r.exteriorDistance(b.center) - b.radius)); }
-  double minimumOnObjectObject(const BallType &b1, const BallType &b2){ ++calls; return SQR(std::max(0., (b1.center - b2.center).norm() - b1.radius - b2.radius)); }
+  double minimumOnObjectObject(const BallType &b1, const BallType &b2){ ++calls; return SQR((std::max)(0., (b1.center - b2.center).norm() - b1.radius - b2.radius)); }
   double minimumOnVolumeObject(const BoxType &r, const VectorType &v) { ++calls; return r.squaredExteriorDistance(v); }
-  double minimumOnObjectObject(const BallType &b, const VectorType &v){ ++calls; return SQR(std::max(0., (b.center - v).norm() - b.radius)); }
+  double minimumOnObjectObject(const BallType &b, const VectorType &v){ ++calls; return SQR((std::max)(0., (b.center - v).norm() - b.radius)); }
 
   VectorType p;
   int calls;

eigenlib/unsupported/test/matrix_exponential.cpp

@@ -36,7 +36,7 @@ double binom(int n, int k)
 template <typename Derived, typename OtherDerived>
 double relerr(const MatrixBase<Derived>& A, const MatrixBase<OtherDerived>& B)
 {
-  return std::sqrt((A - B).cwiseAbs2().sum() / std::min(A.cwiseAbs2().sum(), B.cwiseAbs2().sum()));
+  return std::sqrt((A - B).cwiseAbs2().sum() / (std::min)(A.cwiseAbs2().sum(), B.cwiseAbs2().sum()));
 }
 
 template <typename T>

eigenlib/unsupported/test/sparse_extra.cpp

@@ -67,7 +67,7 @@ template<typename SparseMatrixType> void sparse_extra(const SparseMatrixType& re
   typedef typename SparseMatrixType::Scalar Scalar;
   enum { Flags = SparseMatrixType::Flags };
 
-  double density = std::max(8./(rows*cols), 0.01);
+  double density = (std::max)(8./(rows*cols), 0.01);
   typedef Matrix<Scalar,Dynamic,Dynamic> DenseMatrix;
   typedef Matrix<Scalar,Dynamic,1> DenseVector;
   Scalar eps = 1e-6;

eigenlib/unsupported/test/sparse_ldlt.cpp

@@ -33,7 +33,7 @@ template<typename Scalar> void sparse_ldlt(int rows, int cols)
 {
   static bool odd = true;
   odd = !odd;
-  double density = std::max(8./(rows*cols), 0.01);
+  double density = (std::max)(8./(rows*cols), 0.01);
   typedef Matrix<Scalar,Dynamic,Dynamic> DenseMatrix;
   typedef Matrix<Scalar,Dynamic,1> DenseVector;
 

eigenlib/unsupported/test/sparse_llt.cpp

@@ -31,7 +31,7 @@
 
 template<typename Scalar> void sparse_llt(int rows, int cols)
 {
-  double density = std::max(8./(rows*cols), 0.01);
+  double density = (std::max)(8./(rows*cols), 0.01);
   typedef Matrix<Scalar,Dynamic,Dynamic> DenseMatrix;
   typedef Matrix<Scalar,Dynamic,1> DenseVector;
 

eigenlib/unsupported/test/sparse_lu.cpp

@@ -35,7 +35,7 @@
 
 template<typename Scalar> void sparse_lu(int rows, int cols)
 {
-  double density = std::max(8./(rows*cols), 0.01);
+  double density = (std::max)(8./(rows*cols), 0.01);
   typedef Matrix<Scalar,Dynamic,Dynamic> DenseMatrix;
   typedef Matrix<Scalar,Dynamic,1> DenseVector;