Fix all the doxygen warnings.

2026-04-10 11:34:33 +08:00 · 2025-02-01 00:00:31 +00:00
parent 9589cc4e7f
commit b1e74b1ccd
85 changed files with 829 additions and 2782 deletions
--- a/doc/CMakeLists.txt
+++ b/doc/CMakeLists.txt
@@ -16,7 +16,7 @@ option(EIGEN_DOC_USE_MATHJAX "Use MathJax for rendering math in HTML docs" ON)
 # Set some Doxygen flags
 set(EIGEN_DOXY_PROJECT_NAME             "Eigen")
 set(EIGEN_DOXY_OUTPUT_DIRECTORY_SUFFIX  "")
-set(EIGEN_DOXY_INPUT                    "\"${Eigen_SOURCE_DIR}/Eigen\" \"${Eigen_SOURCE_DIR}/doc\"")
+set(EIGEN_DOXY_INPUT                    "\"${Eigen_SOURCE_DIR}/doc\" \"${Eigen_SOURCE_DIR}/Eigen\"")
 set(EIGEN_DOXY_HTML_COLORSTYLE_HUE      "220")
 set(EIGEN_DOXY_TAGFILES                 "")

@@ -39,7 +39,7 @@ configure_file(

 set(EIGEN_DOXY_PROJECT_NAME             "Eigen-unsupported")
 set(EIGEN_DOXY_OUTPUT_DIRECTORY_SUFFIX  "/unsupported")
-set(EIGEN_DOXY_INPUT                    "\"${Eigen_SOURCE_DIR}/unsupported/Eigen\" \"${Eigen_SOURCE_DIR}/unsupported/doc\"")
+set(EIGEN_DOXY_INPUT                    "\"${Eigen_SOURCE_DIR}/unsupported/doc\" \"${Eigen_SOURCE_DIR}/unsupported/Eigen\"")
 set(EIGEN_DOXY_HTML_COLORSTYLE_HUE      "0")
 set(EIGEN_DOXY_TAGFILES                 "\"${Eigen_BINARY_DIR}/doc/Eigen.doxytags=..\"")
 #set(EIGEN_DOXY_TAGFILES                 "")
@@ -83,7 +83,6 @@ add_custom_target(
  doc-eigen-prerequisites
  ALL
  COMMAND ${CMAKE_COMMAND} -E make_directory ${CMAKE_CURRENT_BINARY_DIR}/html/
-  COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/eigen_navtree_hacks.js           ${CMAKE_CURRENT_BINARY_DIR}/html/
  COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/Eigen_Silly_Professor_64x64.png  ${CMAKE_CURRENT_BINARY_DIR}/html/
  COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/ftv2pnode.png                    ${CMAKE_CURRENT_BINARY_DIR}/html/
  COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/ftv2node.png                     ${CMAKE_CURRENT_BINARY_DIR}/html/
@@ -95,7 +94,6 @@ add_custom_target(
  doc-unsupported-prerequisites
  ALL
  COMMAND ${CMAKE_COMMAND} -E make_directory ${Eigen_BINARY_DIR}/doc/html/unsupported
-  COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/eigen_navtree_hacks.js           ${CMAKE_CURRENT_BINARY_DIR}/html/unsupported/
  COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/Eigen_Silly_Professor_64x64.png  ${CMAKE_CURRENT_BINARY_DIR}/html/unsupported/
  COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/ftv2pnode.png                    ${CMAKE_CURRENT_BINARY_DIR}/html/unsupported/
  COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/ftv2node.png                     ${CMAKE_CURRENT_BINARY_DIR}/html/unsupported/
--- a/doc/CoeffwiseMathFunctionsTable.dox
+++ b/doc/CoeffwiseMathFunctionsTable.dox
@@ -177,7 +177,7 @@ This also means that, unless specified, if the function \c std::foo is available
  \link Eigen::cbrt cbrt\endlink(a);\n
  m.\link MatrixBase::cwiseCbrt cwiseCbrt\endlink();
  </td>
-  <td>computes cube root (\f$ \cbrt a_i \f$)</td>
+  <td>computes cube root (\f$ \sqrt[3]{ a_i }\f$)</td>
  <td class="code">
  using <a href="http://en.cppreference.com/w/cpp/numeric/math/cbrt">std::cbrt</a>; \n
  cbrt(a[i]);</td>
@@ -518,7 +518,7 @@ This also means that, unless specified, if the function \c std::foo is available
  <td class="code">
  \anchor cwisetable_digamma
  a.\link ArrayBase::digamma digamma\endlink(); \n
-  \link Eigen::digamma digamma\endlink(a);
+  digamma(a);
  </td>
  <td><a href="https://en.wikipedia.org/wiki/Digamma_function">logarithmic derivative of the gamma function</a></td>
  <td>
@@ -529,7 +529,7 @@ This also means that, unless specified, if the function \c std::foo is available
 <tr>
  <td class="code">
  \anchor cwisetable_igamma
-  \link Eigen::igamma igamma\endlink(a,x);
+  igamma(a,x);
  </td>
  <td><a href="https://en.wikipedia.org/wiki/Incomplete_gamma_function">lower incomplete gamma integral</a>
  \n \f$ \gamma(a_i,x_i)= \frac{1}{|a_i|} \int_{0}^{x_i}e^{\text{-}t} t^{a_i-1} \mathrm{d} t \f$</td>
@@ -541,7 +541,7 @@ This also means that, unless specified, if the function \c std::foo is available
 <tr>
  <td class="code">
  \anchor cwisetable_igammac
-  \link Eigen::igammac igammac\endlink(a,x);
+  igammac(a,x);
  </td>
  <td><a href="https://en.wikipedia.org/wiki/Incomplete_gamma_function">upper incomplete gamma integral</a>
  \n \f$ \Gamma(a_i,x_i) = \frac{1}{|a_i|} \int_{x_i}^{\infty}e^{\text{-}t} t^{a_i-1} \mathrm{d} t \f$</td>
@@ -557,7 +557,7 @@ This also means that, unless specified, if the function \c std::foo is available
 <tr>
  <td class="code">
  \anchor cwisetable_polygamma
-  \link Eigen::polygamma polygamma\endlink(n,x);
+  polygamma(n,x);
  </td>
  <td><a href="https://en.wikipedia.org/wiki/Polygamma_function">n-th derivative of digamma at x</a></td>
  <td>
@@ -570,7 +570,7 @@ This also means that, unless specified, if the function \c std::foo is available
 <tr>
  <td class="code">
  \anchor cwisetable_betainc
-  \link Eigen::betainc betainc\endlink(a,b,x);
+  betainc(a,b,x);
  </td>
  <td><a href="https://en.wikipedia.org/wiki/Beta_function#Incomplete_beta_function">Incomplete beta function</a></td>
  <td>
@@ -581,7 +581,7 @@ This also means that, unless specified, if the function \c std::foo is available
 <tr>
  <td class="code">
  \anchor cwisetable_zeta
-  \link Eigen::zeta zeta\endlink(a,b); \n
+  zeta(a,b); \n
  a.\link ArrayBase::zeta zeta\endlink(b);
  </td>
  <td><a href="https://en.wikipedia.org/wiki/Hurwitz_zeta_function">Hurwitz zeta function</a>
--- a/doc/Doxyfile.in
+++ b/doc/Doxyfile.in
--- a/doc/Manual.dox
+++ b/doc/Manual.dox
@@ -39,7 +39,6 @@ namespace Eigen {
  - \subpage TopicVectorization
  - \subpage TopicEigenExpressionTemplates
  - \subpage TopicScalarTypes
-  - \subpage GettingStarted
  - \subpage TutorialSparse_example_details
  - \subpage TopicWritingEfficientProductExpression
  - \subpage Experimental
@@ -94,15 +93,15 @@ namespace Eigen {
        \ingroup DenseMatrixManipulation_Alignement */
 /**     \addtogroup TopicWrongStackAlignment
        \ingroup DenseMatrixManipulation_Alignement */
-    
+
 /** \addtogroup DenseMatrixManipulation_Reference
    \ingroup DenseMatrixManipulation_chapter       */
 /**     \addtogroup Core_Module
-        \ingroup DenseMatrixManipulation_Reference */  
+        \ingroup DenseMatrixManipulation_Reference */
 /**     \addtogroup Jacobi_Module
-        \ingroup DenseMatrixManipulation_Reference */ 
+        \ingroup DenseMatrixManipulation_Reference */
 /**     \addtogroup Householder_Module
-        \ingroup DenseMatrixManipulation_Reference */ 
+        \ingroup DenseMatrixManipulation_Reference */

 /** \addtogroup CoeffwiseMathFunctions
    \ingroup DenseMatrixManipulation_chapter */
@@ -118,7 +117,7 @@ namespace Eigen {
    \ingroup DenseLinearSolvers_chapter */
 /** \addtogroup TopicLinearAlgebraDecompositions
    \ingroup DenseLinearSolvers_chapter */
-/** \addtogroup LeastSquares 
+/** \addtogroup LeastSquares
    \ingroup DenseLinearSolvers_chapter */
 /** \addtogroup InplaceDecomposition
    \ingroup DenseLinearSolvers_chapter */
@@ -168,7 +167,7 @@ namespace Eigen {
 /** \addtogroup Sparse_Module
    \ingroup Sparse_Reference */
 /** \addtogroup Support_modules
-    \ingroup Sparse_Reference */    
+    \ingroup Sparse_Reference */

 /** \addtogroup SparseQuickRefPage
    \ingroup Sparse_chapter */
@@ -179,7 +178,7 @@ namespace Eigen {

 /** \addtogroup TutorialGeometry
    \ingroup Geometry_chapter */
-    
+
 /** \addtogroup Geometry_Reference
    \ingroup Geometry_chapter */
 /** \addtogroup Geometry_Module
--- a/doc/Overview.dox
+++ b/doc/Overview.dox
@@ -4,14 +4,14 @@ namespace Eigen {

 This is the API documentation for Eigen3. You can <a href="eigen-doc.tgz">download</a> it as a tgz archive for offline reading.

-For a first contact with Eigen, the best place is to have a look at the \link GettingStarted getting started \endlink page that show you how to write and compile your first program with Eigen.
+For a first contact with Eigen, the best place is to have a look at the \subpage GettingStarted page that show you how to write and compile your first program with Eigen.

 Then, the \b quick \b reference \b pages give you a quite complete description of the API in a very condensed format that is specially useful to recall the syntax of a particular feature, or to have a quick look at the API. They currently cover the two following feature sets, and more will come in the future:
  - \link QuickRefPage [QuickRef] Dense matrix and array manipulations \endlink
  - \link SparseQuickRefPage [QuickRef] Sparse linear algebra \endlink

 You're a MatLab user? There is also a <a href="AsciiQuickReference.txt">short ASCII reference</a> with Matlab translations.
-  
+
 The \b main \b documentation is organized into \em chapters covering different domains of features.
 They are themselves composed of \em user \em manual pages describing the different features in a comprehensive way, and \em reference pages that gives you access to the API documentation through the related Eigen's \em modules and \em classes.

@@ -19,6 +19,10 @@ Under the \subpage UserManual_CustomizingEigen section, you will find discussion

 Under the \subpage UserManual_Generalities section, you will find documentation on more general topics such as preprocessor directives, controlling assertions, multi-threading, MKL support, some Eigen's internal insights, and much more...

+For details regarding Eigen's inner-workings, see the \subpage UserManual_UnderstandingEigen section.
+
+Some random topics can be found under the \subpage UnclassifiedPages section.
+
 Finally, do not miss the search engine, useful to quickly get to the documentation of a given class or function.

 Want more? Checkout the <a href="unsupported/index.html">\em unsupported \em modules </a> documentation.
--- a/doc/QuickStartGuide.dox
+++ b/doc/QuickStartGuide.dox
@@ -39,7 +39,7 @@ When you run the program, it produces the following output:

 The Eigen header files define many types, but for simple applications it may be enough to use only the \c MatrixXd type. This represents a matrix of arbitrary size (hence the \c X in \c MatrixXd), in which every entry is a \c double (hence the \c d in \c MatrixXd). See the \ref QuickRef_Types "quick reference guide" for an overview of the different types you can use to represent a matrix.

-The \c Eigen/Dense header file defines all member functions for the MatrixXd type and related types (see also the \ref QuickRef_Headers "table of header files"). All classes and functions defined in this header file (and other Eigen header files) are in the \c Eigen namespace. 
+The \c Eigen/Dense header file defines all member functions for the MatrixXd type and related types (see also the \ref QuickRef_Headers "table of header files"). All classes and functions defined in this header file (and other Eigen header files) are in the \c Eigen namespace.

 The first line of the \c main function declares a variable of type \c MatrixXd and specifies that it is a matrix with 2 rows and 2 columns (the entries are not initialized). The statement <tt>m(0,0) = 3</tt> sets the entry in the top-left corner to 3. You need to use round parentheses to refer to entries in the matrix. As usual in computer science, the index of the first index is 0, as opposed to the convention in mathematics that the first index is 1.

@@ -66,7 +66,7 @@ The output is as follows:

 \section GettingStartedExplanation2 Explanation of the second example

-The second example starts by declaring a 3-by-3 matrix \c m which is initialized using the \link DenseBase::Random(Index,Index) Random() \endlink method with random values between -1 and 1. The next line applies a linear mapping such that the values are between 10 and 110. The function call \link DenseBase::Constant(Index,Index,const Scalar&) MatrixXd::Constant\endlink(3,3,1.2) returns a 3-by-3 matrix expression having all coefficients equal to 1.2. The rest is standard arithmetic.
+The second example starts by declaring a 3-by-3 matrix \c m which is initialized using the \link DenseBase::Random(Index,Index) Random() \endlink method with random values between -1 and 1. The next line applies a linear mapping such that the values are between 10 and 110. The function call \link DenseBase::Constant(Index,Index,const DenseBase::Scalar&) MatrixXd::Constant\endlink(3,3,1.2) returns a 3-by-3 matrix expression having all coefficients equal to 1.2. The rest is standard arithmetic.

 The next line of the \c main function introduces a new type: \c VectorXd. This represents a (column) vector of arbitrary size. Here, the vector \c v is created to contain \c 3 coefficients which are left uninitialized. The one but last line uses the so-called comma-initializer, explained in \ref TutorialAdvancedInitialization, to set all coefficients of the vector \c v to be as follows:

--- a/doc/TutorialGeometry.dox
+++ b/doc/TutorialGeometry.dox
@@ -7,7 +7,7 @@ In this page, we will introduce the many possibilities offered by the \ref Geome
 \eigenAutoToc

 Eigen's Geometry module provides two different kinds of geometric transformations:
-  - Abstract transformations, such as rotations (represented by \ref AngleAxis "angle and axis" or by a \ref Quaternion "quaternion"), \ref Translation "translations", \ref Scaling "scalings". These transformations are NOT represented as matrices, but you can nevertheless mix them with matrices and vectors in expressions, and convert them to matrices if you wish.
+  - Abstract transformations, such as rotations (represented by \ref AngleAxis "angle and axis" or by a \ref Quaternion "quaternion"), \ref Translation "translations", \ref Scaling() "scalings". These transformations are NOT represented as matrices, but you can nevertheless mix them with matrices and vectors in expressions, and convert them to matrices if you wish.
  - Projective or affine transformation matrices: see the Transform class. These are really matrices.

 \note If you are working with OpenGL 4x4 matrices then Affine3f and Affine3d are what you want. Since Eigen defaults to column-major storage, you can directly use the Transform::data() method to pass your transformation matrix to OpenGL.
--- a/doc/TutorialMatrixArithmetic.dox
+++ b/doc/TutorialMatrixArithmetic.dox
@@ -10,7 +10,7 @@ between matrices, vectors and scalars with Eigen.
 \section TutorialArithmeticIntroduction Introduction

 Eigen offers matrix/vector arithmetic operations either through overloads of common C++ arithmetic operators such as +, -, *,
-or through special methods such as dot(), cross(), etc.
+or through special methods such as \link MatrixBase::dot() dot()\endlink, \link MatrixBase::cross() cross()\endlink, etc.
 For the Matrix class (matrices and vectors), operators are only overloaded to support
 linear-algebraic operations. For example, \c matrix1 \c * \c matrix2 means matrix-matrix product,
 and \c vector \c + \c scalar is just not allowed. If you want to perform all kinds of array operations,
@@ -100,7 +100,7 @@ As for basic arithmetic operators, \c transpose() and \c adjoint() simply return
 <td>
 \verbinclude tut_arithmetic_transpose_aliasing.out
 </td></tr></table>
-This is the so-called \ref TopicAliasing "aliasing issue". In "debug mode", i.e., when \ref TopicAssertions "assertions" have not been disabled, such common pitfalls are automatically detected. 
+This is the so-called \ref TopicAliasing "aliasing issue". In "debug mode", i.e., when \ref TopicAssertions "assertions" have not been disabled, such common pitfalls are automatically detected.

 For \em in-place transposition, as for instance in <tt>a = a.transpose()</tt>, simply use the \link DenseBase::transposeInPlace() transposeInPlace()\endlink  function:
 <table class="example">
--- a/doc/TutorialMatrixClass.dox
+++ b/doc/TutorialMatrixClass.dox
@@ -117,7 +117,7 @@ Matrix<int, 1, 5> c = {1, 2, 3, 4, 5}; // A row-vector containing the elements {
 \endcode

 In the general case of matrices and vectors with either fixed or runtime sizes,
-coefficients have to be grouped by rows and passed as an initializer list of initializer list (\link Matrix::Matrix(const std::initializer_list<std::initializer_list<Scalar>>&) details \endlink):
+coefficients have to be grouped by rows and passed as an initializer list of initializer list (\link matrix_initializer_list details \endlink):
 \code
 MatrixXi a {      // construct a 2x2 matrix
      {1, 2},     // first row
--- a/doc/TutorialSparse.dox
+++ b/doc/TutorialSparse.dox
@@ -90,9 +90,7 @@ Such problem can be mathematically expressed as a linear problem of the form \f$
 <tr><td>
 \include Tutorial_sparse_example.cpp
 </td>
-<td>
-\image html Tutorial_sparse_example.jpeg
-</td></tr></table>
+</tr></table>

 In this example, we start by defining a column-major sparse matrix type of double \c SparseMatrix<double>, and a triplet list of the same scalar type \c  Triplet<double>. A triplet is a simple object representing a non-zero entry as the triplet: \c row index, \c column index, \c value.

--- a/doc/UnalignedArrayAssert.dox
+++ b/doc/UnalignedArrayAssert.dox
@@ -106,7 +106,7 @@ However there are a few corner cases where these alignment settings get overridd

 Three possibilities:
 <ul>
-  <li>Use the \c DontAlign option to Matrix, Array, Quaternion, etc. objects that gives you trouble. This way %Eigen won't try to over-align them, and thus won"t assume any special alignment. On the down side, you will pay the cost of unaligned loads/stores for them, but on modern CPUs, the overhead is either null or marginal. See \link StructHavingEigenMembers_othersolutions here \endlink for an example.</li>
+  <li>Use the \c DontAlign option to Matrix, Array, Quaternion, etc. objects that gives you trouble. This way %Eigen won't try to over-align them, and thus won't assume any special alignment. On the down side, you will pay the cost of unaligned loads/stores for them, but on modern CPUs, the overhead is either null or marginal. See \link StructHavingEigenMembers_othersolutions here \endlink for an example.</li>
  <li>Define \link TopicPreprocessorDirectivesPerformance EIGEN_MAX_STATIC_ALIGN_BYTES \endlink to 0. That disables all 16-byte (and above) static alignment code, while keeping 16-byte (or above) heap alignment. This has the effect of
      vectorizing fixed-size objects (like Matrix4d) through unaligned stores (as controlled by \link TopicPreprocessorDirectivesPerformance EIGEN_UNALIGNED_VECTORIZE \endlink), while keeping unchanged the vectorization of dynamic-size objects
      (like MatrixXd). On 64 bytes systems, you might also define it 16 to disable only 32 and 64 bytes of over-alignment. But do note that this breaks ABI compatibility with the default behavior of static alignment.</li>
--- a/doc/eigen_navtree_hacks.js
+++ b/doc/eigen_navtree_hacks.js
@@ -1,382 +0,0 @@
-
-// generate a table of contents in the side-nav based on the h1/h2 tags of the current page.
-function generate_autotoc() {
-  var headers = $("h1, h2");
-  if(headers.length > 1) {
-    var toc = $("#side-nav").append('<div id="nav-toc" class="toc"><h3>Table of contents</h3></div>');
-    toc = $("#nav-toc");
-    var footer  = $("#nav-path");
-    var footerHeight = footer.height();
-    toc = toc.append('<ul></ul>');
-    toc = toc.find('ul');
-    var indices = new Array();
-    indices[0] = 0;
-    indices[1] = 0;
-
-    var h1counts = $("h1").length;
-    headers.each(function(i) {
-      var current = $(this);
-      var levelTag = current[0].tagName.charAt(1);
-      if(h1counts==0)
-        levelTag--;
-      var cur_id = current.attr("id");
-
-      indices[levelTag-1]+=1;  
-      var prefix = indices[0];
-      if (levelTag >1) {
-        prefix+="."+indices[1];
-      }
-        
-      // Uncomment to add number prefixes
-      // current.html(prefix + "   " + current.html());
-      for(var l = levelTag; l < 2; ++l){
-          indices[l] = 0;
-      }
-
-      if(cur_id == undefined) {
-        current.attr('id', 'title' + i);
-        current.addClass('anchor');
-        toc.append("<li class='level" + levelTag + "'><a id='link" + i + "' href='#title" +
-                    i + "' title='" + current.prop("tagName") + "'>" + current.text() + "</a></li>");
-      } else {
-        toc.append("<li class='level" + levelTag + "'><a id='" + cur_id + "' href='#title" +
-                    i + "' title='" + current.prop("tagName") + "'>" + current.text() + "</a></li>");
-      }
-    });
-    resizeHeight();
-  }
-}
-
-
-var global_navtree_object;
-
-// Overloaded to remove links to sections/subsections
-function getNode(o, po)
-{
-  po.childrenVisited = true;
-  var l = po.childrenData.length-1;
-  for (var i in po.childrenData) {
-    var nodeData = po.childrenData[i];
-    if((!nodeData[1]) ||  (nodeData[1].indexOf('#')==-1)) // <- we added this line
-      po.children[i] = newNode(o, po, nodeData[0], nodeData[1], nodeData[2], i==l);
-  }
-}
-
-/*
- @licstart  The following is the entire license notice for the JavaScript code in this file.
-
- The MIT License (MIT)
-
- Copyright (C) 1997-2020 by Dimitri van Heesch
-
- Permission is hereby granted, free of charge, to any person obtaining a copy of this software
- and associated documentation files (the "Software"), to deal in the Software without restriction,
- including without limitation the rights to use, copy, modify, merge, publish, distribute,
- sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
- furnished to do so, subject to the following conditions:
-
- The above copyright notice and this permission notice shall be included in all copies or
- substantial portions of the Software.
-
- THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
- BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
- DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-
- @licend  The above is the entire license notice for the JavaScript code in this file
- */
-// We need to override entire resizable just so we can change the height to account for the TOC.
-function initResizable()
-{
-  var cookie_namespace = 'doxygen';
-  var sidenav,navtree,content,header,collapsed,collapsedWidth=0,barWidth=6,desktop_vp=768,titleHeight;
-
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-  {
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-        return val;
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-      date.setTime(date.getTime()+(10*365*24*60*60*1000)); // default expiration is one week
-      expiration = date.toGMTString();
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-  }
-
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-    var sidenavWidth = $(sidenav).outerWidth();
-    content.css({marginLeft:parseInt(sidenavWidth)+"px"});
-    writeCookie('width',sidenavWidth-barWidth, null);
-  }
-
-  function restoreWidth(navWidth)
-  {
-    var windowWidth = $(window).width() + "px";
-    content.css({marginLeft:parseInt(navWidth)+barWidth+"px"});
-    sidenav.css({width:navWidth + "px"});
-  }
-
-  function resizeHeight()
-  {  
-    var headerHeight = header.outerHeight();
-    var footerHeight = footer.outerHeight();
-    var windowHeight = $(window).height() - headerHeight - footerHeight;
-    //==========================================================================
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-    // This small section is the only portion modified within initResizable().
-    // The rest is copy-pasted from the doxygen-generated resize.js.
-    //
-    // Adjust nav height to make room for TOC.
-    var toc = $("#nav-toc");
-    var tocHeight = toc.height();
-    var navHeight = windowHeight;
-    // tocHeight is not always defined (e.g. if empty)
-    if (tocHeight) {
-      navHeight = windowHeight - tocHeight;
-    }
-   //==========================================================================
-    
-    content.css({height:windowHeight + "px"});
-    navtree.css({height:navHeight + "px"});
-    sidenav.css({height:windowHeight + "px"});
-    
-    var width=$(window).width();
-    if (width!=collapsedWidth) {
-      if (width<desktop_vp && collapsedWidth>=desktop_vp) {
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-          collapseExpand();
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-      } else if (width>desktop_vp && collapsedWidth<desktop_vp) {
-        if (collapsed) {
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-      collapsedWidth=width;
-    }
-    if (location.hash.slice(1)) {
-      (document.getElementById(location.hash.slice(1))||document.body).scrollIntoView();
-    }
-  }
-
-  function collapseExpand()
-  {
-    if (sidenav.width()>0) {
-      restoreWidth(0);
-      collapsed=true;
-    }
-    else {
-      var width = readCookie('width');
-      if (width>200 && width<$(window).width()) { restoreWidth(width); } else { restoreWidth(200); }
-      collapsed=false;
-    }
-  }
-  header  = $("#top");
-  sidenav = $("#side-nav");
-  content = $("#doc-content");
-  navtree = $("#nav-tree");
-  footer  = $("#nav-path");
-
-  $(".side-nav-resizable").resizable({resize: function(e, ui) { resizeWidth(); } });
-  $(sidenav).resizable({ minWidth: 0 });
-  $(window).resize(function() { resizeHeight(); });
-  var device = navigator.userAgent.toLowerCase();
-  var touch_device = device.match(/(iphone|ipod|ipad|android)/);
-  if (touch_device) { /* wider split bar for touch only devices */
-    $(sidenav).css({ paddingRight:'20px' });
-    $('.ui-resizable-e').css({ width:'20px' });
-    $('#nav-sync').css({ right:'34px' });
-    barWidth=20;
-  }
-  var width = readCookie('width');
-  if (width) { restoreWidth(width); } else { resizeWidth(); }
-  resizeHeight();
-  var url = location.href;
-  var i=url.indexOf("#");
-  if (i>=0) window.location.hash=url.substr(i);
-  var _preventDefault = function(evt) { evt.preventDefault(); };
-  $("#splitbar").bind("dragstart", _preventDefault).bind("selectstart", _preventDefault);
-  $(".ui-resizable-handle").dblclick(collapseExpand);
-  $(window).on('load',resizeHeight);
-}
-
-// Overloaded to save the root node into global_navtree_object
-function initNavTree(toroot,relpath)
-{
-  var o = new Object();
-  global_navtree_object = o; // <- we added this line
-  o.toroot = toroot;
-  o.node = new Object();
-  o.node.li = document.getElementById("nav-tree-contents");
-  o.node.childrenData = NAVTREE;
-  o.node.children = new Array();
-  o.node.childrenUL = document.createElement("ul");
-  o.node.getChildrenUL = function() { return o.node.childrenUL; };
-  o.node.li.appendChild(o.node.childrenUL);
-  o.node.depth = 0;
-  o.node.relpath = relpath;
-  o.node.expanded = false;
-  o.node.isLast = true;
-  o.node.plus_img = document.createElement("img");
-  o.node.plus_img.src = relpath+"ftv2pnode.png";
-  o.node.plus_img.width = 16;
-  o.node.plus_img.height = 22;
-
-  if (localStorageSupported()) {
-    var navSync = $('#nav-sync');
-    if (cachedLink()) {
-      showSyncOff(navSync,relpath);
-      navSync.removeClass('sync');
-    } else {
-      showSyncOn(navSync,relpath);
-    }
-    navSync.click(function(){ toggleSyncButton(relpath); });
-  }
-
-  navTo(o,toroot,window.location.hash,relpath);
-
-  $(window).bind('hashchange', function(){
-     if (window.location.hash && window.location.hash.length>1){
-       var a;
-       if ($(location).attr('hash')){
-         var clslink=stripPath($(location).attr('pathname'))+':'+
-                               $(location).attr('hash').substring(1);
-         a=$('.item a[class$="'+clslink+'"]');
-       }
-       if (a==null || !$(a).parent().parent().hasClass('selected')){
-         $('.item').removeClass('selected');
-         $('.item').removeAttr('id');
-       }
-       var link=stripPath2($(location).attr('pathname'));
-       navTo(o,link,$(location).attr('hash'),relpath);
-     } else if (!animationInProgress) {
-       $('#doc-content').scrollTop(0);
-       $('.item').removeClass('selected');
-       $('.item').removeAttr('id');
-       navTo(o,toroot,window.location.hash,relpath);
-     }
-  })
-
-  $(window).on("load", showRoot);
-}
-
-// return false if the the node has no children at all, or has only section/subsection children
-function checkChildrenData(node) {
-  if (!(typeof(node.childrenData)==='string')) {
-    for (var i in node.childrenData) {
-      var url = node.childrenData[i][1];
-      if(url.indexOf("#")==-1)
-        return true;
-    }
-    return false;
-  }
-  return (node.childrenData);
-}
-
-// Modified to:
-// 1 - remove the root node 
-// 2 - remove the section/subsection children
-function createIndent(o,domNode,node,level)
-{
-  var level=-2; // <- we replaced level=-1 by level=-2
-  var n = node;
-  while (n.parentNode) { level++; n=n.parentNode; }
-  if (checkChildrenData(node)) { // <- we modified this line to use checkChildrenData(node) instead of node.childrenData
-    var imgNode = document.createElement("span");
-    imgNode.className = 'arrow';
-    imgNode.style.paddingLeft=(16*level).toString()+'px';
-    imgNode.innerHTML=arrowRight;
-    node.plus_img = imgNode;
-    node.expandToggle = document.createElement("a");
-    node.expandToggle.href = "javascript:void(0)";
-    node.expandToggle.onclick = function() {
-      if (node.expanded) {
-        $(node.getChildrenUL()).slideUp("fast");
-        node.plus_img.innerHTML=arrowRight;
-        node.expanded = false;
-      } else {
-        expandNode(o, node, false, false);
-      }
-    }
-    node.expandToggle.appendChild(imgNode);
-    domNode.appendChild(node.expandToggle);
-  } else {
-    var span = document.createElement("span");
-    span.className = 'arrow';
-    span.style.width   = 16*(level+1)+'px';
-    span.innerHTML = '&#160;';
-    domNode.appendChild(span);
-  }
-}
-
-// Overloaded to automatically expand the selected node
-function selectAndHighlight(hash,n)
-{
-  var a;
-  if (hash) {
-    var link=stripPath($(location).attr('pathname'))+':'+hash.substring(1);
-    a=$('.item a[class$="'+link+'"]');
-  }
-  if (a && a.length) {
-    a.parent().parent().addClass('selected');
-    a.parent().parent().attr('id','selected');
-    highlightAnchor();
-  } else if (n) {
-    $(n.itemDiv).addClass('selected');
-    $(n.itemDiv).attr('id','selected');
-  }
-  if ($('#nav-tree-contents .item:first').hasClass('selected')) {
-    $('#nav-sync').css('top','30px');
-  } else {
-    $('#nav-sync').css('top','5px');
-  }
-  expandNode(global_navtree_object, n, true, true); // <- we added this line
-  showRoot();
-}
-
-
-$(document).ready(function() {
-  
-  generate_autotoc();
-  
-  (function (){ // wait until the first "selected" element has been created
-    try {
-      // this line will trigger an exception if there is no #selected element, i.e., before the tree structure is
-      // complete.
-      document.getElementById("selected").className = "item selected";
-      
-      // ok, the default tree has been created, we can keep going...
-      
-      // expand the "Chapters" node
-      if(window.location.href.indexOf('unsupported')==-1)
-        expandNode(global_navtree_object, global_navtree_object.node.children[0].children[2], true, true);
-      else
-        expandNode(global_navtree_object, global_navtree_object.node.children[0].children[1], true, true);
-      
-      // Hide the root node "Eigen"
-      $(document.getElementsByClassName('index.html')[0]).parent().parent().css({display:"none"});
-      
-    } catch (err) {
-      setTimeout(arguments.callee, 10);
-    }
-  })();
-});
--- a/doc/eigendoxy_footer.html.in
+++ b/doc/eigendoxy_footer.html.in
@@ -1,23 +1,18 @@
+<!-- HTML footer for doxygen 1.13.0-->
 <!-- start footer part -->
 <!--BEGIN GENERATE_TREEVIEW-->
 <div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    $navpath
-    <li class="footer">$generatedby
-    <a href="http://www.doxygen.org/index.html">
-    <img class="footer" src="$relpath^doxygen.png" alt="doxygen"/></a> $doxygenversion </li>
+    <li class="footer">$generatedby <a href="https://www.doxygen.org/index.html"><img class="footer" src="$relpath^doxygen.svg" width="104" height="31" alt="doxygen"/></a> $doxygenversion </li>
  </ul>
 </div>
 <!--END GENERATE_TREEVIEW-->
 <!--BEGIN !GENERATE_TREEVIEW-->
 <hr class="footer"/><address class="footer"><small>
-$generatedby &#160;<a href="http://www.doxygen.org/index.html">
-<img class="footer" src="$relpath^doxygen.png" alt="doxygen"/>
-</a> $doxygenversion
+$generatedby&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="$relpath^doxygen.svg" width="104" height="31" alt="doxygen"/></a> $doxygenversion
 </small></address>
+</div><!-- doc-content -->
 <!--END !GENERATE_TREEVIEW-->
-
 </body>
 </html>
-
-
--- a/doc/eigendoxy_header.html.in
+++ b/doc/eigendoxy_header.html.in
@@ -1,25 +1,41 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
-<html xmlns="http://www.w3.org/1999/xhtml">
+<!-- HTML header for doxygen 1.13.0-->
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="$langISO">
 <head>
 <meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
-<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
 <meta name="generator" content="Doxygen $doxygenversion"/>
 <meta name="viewport" content="width=device-width, initial-scale=1"/>
 <!--BEGIN PROJECT_NAME--><title>$projectname: $title</title><!--END PROJECT_NAME-->
 <!--BEGIN !PROJECT_NAME--><title>$title</title><!--END !PROJECT_NAME-->
+<!--BEGIN PROJECT_ICON-->
+<link rel="icon" href="$relpath^$projecticon" type="image/x-icon" />
+<!--END PROJECT_ICON-->
 <link href="$relpath^tabs.css" rel="stylesheet" type="text/css"/>
+<!--BEGIN DISABLE_INDEX-->
+  <!--BEGIN FULL_SIDEBAR-->
+<script type="text/javascript">var page_layout=1;</script>
+  <!--END FULL_SIDEBAR-->
+<!--END DISABLE_INDEX-->
 <script type="text/javascript" src="$relpath^jquery.js"></script>
 <script type="text/javascript" src="$relpath^dynsections.js"></script>
+<!--BEGIN COPY_CLIPBOARD-->
+<script type="text/javascript" src="$relpath^clipboard.js"></script>
+<!--END COPY_CLIPBOARD-->
 $treeview
 $search
 $mathjax
+$darkmode
 <link href="$relpath^$stylesheet" rel="stylesheet" type="text/css" />
 <link href="$relpath$eigendoxy.css" rel="stylesheet" type="text/css">
-<!-- $extrastylesheet -->
-<script type="text/javascript" src="$relpath$eigen_navtree_hacks.js"></script>
-
+$extrastylesheet
 </head>
 <body>
+<!--BEGIN DISABLE_INDEX-->
+  <!--BEGIN FULL_SIDEBAR-->
+<div id="side-nav" class="ui-resizable side-nav-resizable"><!-- do not remove this div, it is closed by doxygen! -->
+  <!--END FULL_SIDEBAR-->
+<!--END DISABLE_INDEX-->

 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->

@@ -27,12 +43,12 @@ $mathjax
 <div id="titlearea">
 <table cellspacing="0" cellpadding="0">
 <tbody>
- <tr style="height: 56px;">
+ <tr id="projectrow">
  <!--BEGIN PROJECT_LOGO-->
-  <td id="projectlogo"><img alt="Logo" src="$relpath^$projectlogo"/></td>
+  <td id="projectlogo"><img alt="Logo" src="$relpath^$projectlogo"$logosize/></td>
  <!--END PROJECT_LOGO-->
  <!--BEGIN PROJECT_NAME-->
-  <td id="projectalign" style="padding-left: 0.5em;">
+  <td id="projectalign">
   <div id="projectname"><a href="http://eigen.tuxfamily.org">$projectname</a>
   <!--BEGIN PROJECT_NUMBER-->&#160;<span id="projectnumber">$projectnumber</span><!--END PROJECT_NUMBER-->
   </div>
@@ -41,20 +57,26 @@ $mathjax
  <!--END PROJECT_NAME-->
  <!--BEGIN !PROJECT_NAME-->
   <!--BEGIN PROJECT_BRIEF-->
-    <td id="projectalign" style="padding-left: 0.5em;">
+    <td>
    <div id="projectbrief">$projectbrief</div>
    </td>
   <!--END PROJECT_BRIEF-->
  <!--END !PROJECT_NAME-->
  <!--BEGIN DISABLE_INDEX-->
   <!--BEGIN SEARCHENGINE-->
-   <td>$searchbox</td>
+     <!--BEGIN !FULL_SIDEBAR-->
+    <td>$searchbox</td>
+     <!--END !FULL_SIDEBAR-->
   <!--END SEARCHENGINE-->
  <!--END DISABLE_INDEX-->
 </tr>
+  <!--BEGIN SEARCHENGINE-->
+   <!--BEGIN FULL_SIDEBAR-->
+   <tr><td colspan="2">$searchbox</td></tr>
+   <!--END FULL_SIDEBAR-->
+  <!--END SEARCHENGINE-->
 </tbody>
 </table>
 </div>
 <!--END TITLEAREA-->
 <!-- end header part -->
-
--- a/doc/eigendoxy_layout.xml.in
+++ b/doc/eigendoxy_layout.xml.in
@@ -1,67 +1,103 @@
-<?xml version="1.0"?>
+<?xml version="1.0" encoding="UTF-8"?>
 <doxygenlayout version="1.0">
+  <!-- Generated by doxygen 1.13.0 -->
  <!-- Navigation index tabs for HTML output -->
  <navindex>
-    <tab type="user" url="index.html" title="Overview" />
-    <tab type="user" url="@ref GettingStarted" title="Getting started" />
-    <tab type="modules" visible="yes" title="Chapters" intro=""/>
-    <tab type="mainpage" visible="yes" title=""/>
-    <tab type="classlist" visible="yes" title="" intro=""/>
-<!--     <tab type="classmembers" visible="yes" title="" intro=""/> -->
+    <tab type="mainpage" visible="no" title="main"/>
+    <tab type="pages" visible="yes" title="" intro=""/>
+    <tab type="topics" visible="yes" title="Chapters" intro=""/>
+    <tab type="modules" visible="yes" title="" intro="">
+      <tab type="modulelist" visible="yes" title="" intro=""/>
+      <tab type="modulemembers" visible="yes" title="" intro=""/>
+    </tab>
+    <tab type="namespaces" visible="no" title="">
+      <tab type="namespacelist" visible="yes" title="" intro=""/>
+      <tab type="namespacemembers" visible="yes" title="" intro=""/>
+    </tab>
+    <tab type="concepts" visible="yes" title="">
+    </tab>
+    <tab type="interfaces" visible="yes" title="">
+      <tab type="interfacelist" visible="yes" title="" intro=""/>
+      <tab type="interfaceindex" visible="$ALPHABETICAL_INDEX" title=""/>
+      <tab type="interfacehierarchy" visible="yes" title="" intro=""/>
+    </tab>
+    <tab type="classes" visible="yes" title="">
+      <tab type="classlist" visible="yes" title="" intro=""/>
+      <tab type="classindex" visible="$ALPHABETICAL_INDEX" title=""/>
+      <tab type="hierarchy" visible="yes" title="" intro=""/>
+      <tab type="classmembers" visible="yes" title="" intro=""/>
+    </tab>
+    <tab type="structs" visible="yes" title="">
+      <tab type="structlist" visible="yes" title="" intro=""/>
+      <tab type="structindex" visible="$ALPHABETICAL_INDEX" title=""/>
+    </tab>
+    <tab type="exceptions" visible="yes" title="">
+      <tab type="exceptionlist" visible="yes" title="" intro=""/>
+      <tab type="exceptionindex" visible="$ALPHABETICAL_INDEX" title=""/>
+      <tab type="exceptionhierarchy" visible="yes" title="" intro=""/>
+    </tab>
+    <tab type="files" visible="yes" title="">
+      <tab type="filelist" visible="yes" title="" intro=""/>
+      <tab type="globals" visible="yes" title="" intro=""/>
+    </tab>
+    <tab type="examples" visible="yes" title="" intro=""/>
  </navindex>

  <!-- Layout definition for a class page -->
  <class>
    <briefdescription visible="no"/>
-    <includes visible="$SHOW_INCLUDE_FILES"/>
-    <detaileddescription title=""/>
+    <includes visible="$SHOW_HEADERFILE"/>
+    <detaileddescription visible="yes" title=""/>
    <inheritancegraph visible="$CLASS_GRAPH"/>
    <collaborationgraph visible="$COLLABORATION_GRAPH"/>
-    <allmemberslink visible="yes"/>
    <memberdecl>
      <nestedclasses visible="yes" title=""/>
-      <publictypes title=""/>
-      <publicslots title=""/>
-      <signals title=""/>
-      <publicmethods title=""/>
-      <publicstaticmethods title=""/>
-      <publicattributes title=""/>
-      <publicstaticattributes title=""/>
-      <protectedtypes title=""/>
-      <protectedslots title=""/>
-      <protectedmethods title=""/>
-      <protectedstaticmethods title=""/>
-      <protectedattributes title=""/>
-      <protectedstaticattributes title=""/>
-      <packagetypes title=""/>
-      <packagemethods title=""/>
-      <packagestaticmethods title=""/>
-      <packageattributes title=""/>
-      <packagestaticattributes title=""/>
-      <properties title=""/>
-      <events title=""/>
-      <privatetypes title=""/>
-      <privateslots title=""/>
-      <privatemethods title=""/>
-      <privatestaticmethods title=""/>
-      <privateattributes title=""/>
-      <privatestaticattributes title=""/>
-      <friends title=""/>
-      <related title="" subtitle=""/>
+      <publictypes visible="yes" title=""/>
+      <services visible="yes" title=""/>
+      <interfaces visible="yes" title=""/>
+      <publicslots visible="yes" title=""/>
+      <signals visible="yes" title=""/>
+      <publicmethods visible="yes" title=""/>
+      <publicstaticmethods visible="yes" title=""/>
+      <publicattributes visible="yes" title=""/>
+      <publicstaticattributes visible="yes" title=""/>
+      <protectedtypes visible="yes" title=""/>
+      <protectedslots visible="yes" title=""/>
+      <protectedmethods visible="yes" title=""/>
+      <protectedstaticmethods visible="yes" title=""/>
+      <protectedattributes visible="yes" title=""/>
+      <protectedstaticattributes visible="yes" title=""/>
+      <packagetypes visible="yes" title=""/>
+      <packagemethods visible="yes" title=""/>
+      <packagestaticmethods visible="yes" title=""/>
+      <packageattributes visible="yes" title=""/>
+      <packagestaticattributes visible="yes" title=""/>
+      <properties visible="yes" title=""/>
+      <events visible="yes" title=""/>
+      <privatetypes visible="yes" title=""/>
+      <privateslots visible="yes" title=""/>
+      <privatemethods visible="yes" title=""/>
+      <privatestaticmethods visible="yes" title=""/>
+      <privateattributes visible="yes" title=""/>
+      <privatestaticattributes visible="yes" title=""/>
+      <friends visible="yes" title=""/>
+      <related visible="yes" title="" subtitle=""/>
      <membergroups visible="yes"/>
    </memberdecl>
-    
    <memberdef>
-      <inlineclasses title=""/>
-      <typedefs title=""/>
-      <enums title=""/>
-      <constructors title=""/>
-      <functions title=""/>
-      <related title=""/>
-      <variables title=""/>
-      <properties title=""/>
-      <events title=""/>
+      <inlineclasses visible="yes" title=""/>
+      <typedefs visible="yes" title=""/>
+      <enums visible="yes" title=""/>
+      <services visible="yes" title=""/>
+      <interfaces visible="yes" title=""/>
+      <constructors visible="yes" title=""/>
+      <functions visible="yes" title=""/>
+      <related visible="yes" title=""/>
+      <variables visible="yes" title=""/>
+      <properties visible="yes" title=""/>
+      <events visible="yes" title=""/>
    </memberdef>
+    <allmemberslink visible="yes"/>
    <usedfiles visible="$SHOW_USED_FILES"/>
    <authorsection visible="yes"/>
  </class>
@@ -71,24 +107,44 @@
    <briefdescription visible="yes"/>
    <memberdecl>
      <nestednamespaces visible="yes" title=""/>
+      <constantgroups visible="yes" title=""/>
+      <interfaces visible="yes" title=""/>
      <classes visible="yes" title=""/>
-      <typedefs title=""/>
-      <enums title=""/>
-      <functions title=""/>
-      <variables title=""/>
-      <membergroups visible="yes"/>
+      <concepts visible="yes" title=""/>
+      <structs visible="yes" title=""/>
+      <exceptions visible="yes" title=""/>
+      <typedefs visible="yes" title=""/>
+      <sequences visible="yes" title=""/>
+      <dictionaries visible="yes" title=""/>
+      <enums visible="yes" title=""/>
+      <functions visible="yes" title=""/>
+      <variables visible="yes" title=""/>
+      <properties visible="yes" title=""/>
+      <membergroups visible="yes" visible="yes"/>
    </memberdecl>
-    <detaileddescription title=""/>
+    <detaileddescription visible="yes" title=""/>
    <memberdef>
-      <inlineclasses title=""/>
-      <typedefs title=""/>
-      <enums title=""/>
-      <functions title=""/>
-      <variables title=""/>
+      <inlineclasses visible="yes" title=""/>
+      <typedefs visible="yes" title=""/>
+      <sequences visible="yes" title=""/>
+      <dictionaries visible="yes" title=""/>
+      <enums visible="yes" title=""/>
+      <functions visible="yes" title=""/>
+      <variables visible="yes" title=""/>
+      <properties visible="yes" title=""/>
    </memberdef>
    <authorsection visible="yes"/>
  </namespace>

+  <!-- Layout definition for a concept page -->
+  <concept>
+    <briefdescription visible="yes"/>
+    <includes visible="$SHOW_HEADERFILE"/>
+    <definition visible="yes" title=""/>
+    <detaileddescription visible="yes" title=""/>
+    <authorsection visible="yes"/>
+  </concept>
+
  <!-- Layout definition for a file page -->
  <file>
    <briefdescription visible="yes"/>
@@ -97,23 +153,34 @@
    <includedbygraph visible="$INCLUDED_BY_GRAPH"/>
    <sourcelink visible="yes"/>
    <memberdecl>
+      <interfaces visible="yes" title=""/>
      <classes visible="yes" title=""/>
+      <structs visible="yes" title=""/>
+      <exceptions visible="yes" title=""/>
      <namespaces visible="yes" title=""/>
-      <defines title=""/>
-      <typedefs title=""/>
-      <enums title=""/>
-      <functions title=""/>
-      <variables title=""/>
-      <membergroups visible="yes"/>
+      <concepts visible="yes" title=""/>
+      <constantgroups visible="yes" title=""/>
+      <defines visible="yes" title=""/>
+      <typedefs visible="yes" title=""/>
+      <sequences visible="yes" title=""/>
+      <dictionaries visible="yes" title=""/>
+      <enums visible="yes" title=""/>
+      <functions visible="yes" title=""/>
+      <variables visible="yes" title=""/>
+      <properties visible="yes" title=""/>
+      <membergroups visible="yes" visible="yes"/>
    </memberdecl>
-    <detaileddescription title=""/>
+    <detaileddescription visible="yes" title=""/>
    <memberdef>
-      <inlineclasses title=""/>
-      <defines title=""/>
-      <typedefs title=""/>
-      <enums title=""/>
-      <functions title=""/>
-      <variables title=""/>
+      <inlineclasses visible="yes" title=""/>
+      <defines visible="yes" title=""/>
+      <typedefs visible="yes" title=""/>
+      <sequences visible="yes" title=""/>
+      <dictionaries visible="yes" title=""/>
+      <enums visible="yes" title=""/>
+      <functions visible="yes" title=""/>
+      <variables visible="yes" title=""/>
+      <properties visible="yes" title=""/>
    </memberdef>
    <authorsection/>
  </file>
@@ -121,50 +188,74 @@
  <!-- Layout definition for a group page -->
  <group>
    <briefdescription visible="no"/>
-    <detaileddescription title=""/>
+    <detaileddescription visible="yes" title=""/>
    <groupgraph visible="$GROUP_GRAPHS"/>
    <memberdecl>
      <nestedgroups visible="yes" title=""/>
+      <modules visible="yes" title=""/>
      <dirs visible="yes" title=""/>
      <files visible="yes" title=""/>
      <namespaces visible="yes" title=""/>
+      <concepts visible="yes" title=""/>
      <classes visible="yes" title=""/>
-      <defines title=""/>
-      <typedefs title=""/>
-      <enums title=""/>
-      <enumvalues title=""/>
-      <functions title=""/>
-      <variables title=""/>
-      <signals title=""/>
-      <publicslots title=""/>
-      <protectedslots title=""/>
-      <privateslots title=""/>
-      <events title=""/>
-      <properties title=""/>
-      <friends title=""/>
+      <defines visible="yes" title=""/>
+      <typedefs visible="yes" title=""/>
+      <sequences visible="yes" title=""/>
+      <dictionaries visible="yes" title=""/>
+      <enums visible="yes" title=""/>
+      <enumvalues visible="yes" title=""/>
+      <functions visible="yes" title=""/>
+      <variables visible="yes" title=""/>
+      <signals visible="yes" title=""/>
+      <publicslots visible="yes" title=""/>
+      <protectedslots visible="yes" title=""/>
+      <privateslots visible="yes" title=""/>
+      <events visible="yes" title=""/>
+      <properties visible="yes" title=""/>
+      <friends visible="yes" title=""/>
      <membergroups visible="yes"/>
    </memberdecl>
-    
    <memberdef>
      <pagedocs/>
-      <inlineclasses title=""/>
-      <defines title=""/>
-      <typedefs title=""/>
-      <enums title=""/>
-      <enumvalues title=""/>
-      <functions title=""/>
-      <variables title=""/>
-      <signals title=""/>
-      <publicslots title=""/>
-      <protectedslots title=""/>
-      <privateslots title=""/>
-      <events title=""/>
-      <properties title=""/>
-      <friends title=""/>
+      <inlineclasses visible="yes" title=""/>
+      <defines visible="yes" title=""/>
+      <typedefs visible="yes" title=""/>
+      <sequences visible="yes" title=""/>
+      <dictionaries visible="yes" title=""/>
+      <enums visible="yes" title=""/>
+      <enumvalues visible="yes" title=""/>
+      <functions visible="yes" title=""/>
+      <variables visible="yes" title=""/>
+      <signals visible="yes" title=""/>
+      <publicslots visible="yes" title=""/>
+      <protectedslots visible="yes" title=""/>
+      <privateslots visible="yes" title=""/>
+      <events visible="yes" title=""/>
+      <properties visible="yes" title=""/>
+      <friends visible="yes" title=""/>
    </memberdef>
    <authorsection visible="yes"/>
  </group>

+  <!-- Layout definition for a C++20 module page -->
+  <module>
+    <briefdescription visible="yes"/>
+    <exportedmodules visible="yes"/>
+    <memberdecl>
+      <concepts visible="yes" title=""/>
+      <classes visible="yes" title=""/>
+      <enums visible="yes" title=""/>
+      <typedefs visible="yes" title=""/>
+      <functions visible="yes" title=""/>
+      <variables visible="yes" title=""/>
+      <membergroups visible="yes" title=""/>
+    </memberdecl>
+    <detaileddescription visible="yes" title=""/>
+    <memberdecl>
+      <files visible="yes"/>
+    </memberdecl>
+  </module>
+
  <!-- Layout definition for a directory page -->
  <directory>
    <briefdescription visible="yes"/>
@@ -173,6 +264,6 @@
      <dirs visible="yes"/>
      <files visible="yes"/>
    </memberdecl>
-    <detaileddescription title=""/>
+    <detaileddescription visible="yes" title=""/>
  </directory>
 </doxygenlayout>
--- a/doc/examples/CMakeLists.txt
+++ b/doc/examples/CMakeLists.txt
@@ -6,6 +6,7 @@ foreach(example_src ${examples_SRCS})
  if(EIGEN_STANDARD_LIBRARIES_TO_LINK_TO)
    target_link_libraries(${example} ${EIGEN_STANDARD_LIBRARIES_TO_LINK_TO})
  endif()
+  target_link_libraries(${example} Eigen3::Eigen)
  add_custom_command(
    TARGET ${example}
    POST_BUILD
--- a/doc/examples/TutorialInplaceLU.cpp
+++ b/doc/examples/TutorialInplaceLU.cpp
@@ -1,12 +1,8 @@
 #include <iostream>
-struct init {
-  init() { std::cout << "[init]\n"; }
-};
-init init_obj;
-// [init]
 #include <Eigen/Dense>

 int main() {
+  std::cout << "[init]\n";
  Eigen::MatrixXd A(2, 2);
  A << 2, -1, 1, 3;
  std::cout << "Here is the input matrix A before decomposition:\n" << A << "\n";
--- a/doc/snippets/AngleAxis_mimic_euler.cpp
+++ b/doc/snippets/AngleAxis_mimic_euler.cpp
@@ -1,4 +1,4 @@
 Matrix3f m;
-m = AngleAxisf(0.25 * M_PI, Vector3f::UnitX()) * AngleAxisf(0.5 * M_PI, Vector3f::UnitY()) *
-    AngleAxisf(0.33 * M_PI, Vector3f::UnitZ());
+m = AngleAxisf(0.25 * EIGEN_PI, Vector3f::UnitX()) * AngleAxisf(0.5 * EIGEN_PI, Vector3f::UnitY()) *
+    AngleAxisf(0.33 * EIGEN_PI, Vector3f::UnitZ());
 cout << m << endl << "is unitary: " << m.isUnitary() << endl;
--- a/doc/snippets/CMakeLists.txt
+++ b/doc/snippets/CMakeLists.txt
@@ -6,7 +6,7 @@ foreach(snippet_src ${snippets_SRCS})
  get_filename_component(snippet ${snippet_src} NAME_WE)
  set(compile_snippet_target compile_${snippet})
  set(compile_snippet_src ${compile_snippet_target}.cpp)
-  
+
  file(READ ${snippet_src} snippet_source_code)
  configure_file(${CMAKE_CURRENT_SOURCE_DIR}/compile_snippet.cpp.in
                ${CMAKE_CURRENT_BINARY_DIR}/${compile_snippet_src})
@@ -15,6 +15,7 @@ foreach(snippet_src ${snippets_SRCS})
  if(EIGEN_STANDARD_LIBRARIES_TO_LINK_TO)
    target_link_libraries(${compile_snippet_target} ${EIGEN_STANDARD_LIBRARIES_TO_LINK_TO})
  endif()
+  target_link_libraries(${compile_snippet_target} Eigen3::Eigen)

  if(${snippet_src} MATCHES "deprecated")
    set_target_properties(${compile_snippet_target} PROPERTIES COMPILE_FLAGS "-DEIGEN_NO_DEPRECATED_WARNING")
--- a/doc/snippets/Cwise_cos.cpp
+++ b/doc/snippets/Cwise_cos.cpp
@@ -1,2 +1,2 @@
-Array3d v(M_PI, M_PI / 2, M_PI / 3);
+Array3d v(EIGEN_PI, EIGEN_PI / 2, EIGEN_PI / 3);
 cout << v.cos() << endl;
--- a/doc/snippets/Cwise_sin.cpp
+++ b/doc/snippets/Cwise_sin.cpp
@@ -1,2 +1,2 @@
-Array3d v(M_PI, M_PI / 2, M_PI / 3);
+Array3d v(EIGEN_PI, EIGEN_PI / 2, EIGEN_PI / 3);
 cout << v.sin() << endl;
--- a/doc/snippets/Cwise_tan.cpp
+++ b/doc/snippets/Cwise_tan.cpp
@@ -1,2 +1,2 @@
-Array3d v(M_PI, M_PI / 2, M_PI / 3);
+Array3d v(EIGEN_PI, EIGEN_PI / 2, EIGEN_PI / 3);
 cout << v.tan() << endl;
--- a/doc/snippets/MatrixBase_homogeneous.cpp
+++ b/doc/snippets/MatrixBase_homogeneous.cpp
@@ -1,4 +1,4 @@
-Vector3d v = Vector3d::Random(), w;
+Vector3d v = Vector3d::Random();
 Projective3d P(Matrix4d::Random());
 cout << "v                                   = [" << v.transpose() << "]^T" << endl;
 cout << "h.homogeneous()                     = [" << v.homogeneous().transpose() << "]^T" << endl;
--- a/doc/snippets/Tutorial_AdvancedInitialization_LinSpaced.cpp
+++ b/doc/snippets/Tutorial_AdvancedInitialization_LinSpaced.cpp
@@ -1,6 +1,6 @@
 ArrayXXf table(10, 4);
 table.col(0) = ArrayXf::LinSpaced(10, 0, 90);
-table.col(1) = M_PI / 180 * table.col(0);
+table.col(1) = EIGEN_PI / 180 * table.col(0);
 table.col(2) = table.col(1).sin();
 table.col(3) = table.col(1).cos();
 std::cout << "  Degrees   Radians      Sine    Cosine\n";
--- a/doc/snippets/compile_snippet.cpp.in
+++ b/doc/snippets/compile_snippet.cpp.in
@@ -8,11 +8,8 @@ static bool eigen_did_assert = false;

 #include <iostream>
 #include <cassert>
-#include <Eigen/Eigen>
-
-#ifndef M_PI
-#define M_PI 3.1415926535897932384626433832795
-#endif
+#include <Eigen/Dense>
+#include <Eigen/Sparse>

 using namespace Eigen;
 using namespace std;
--- a/doc/special_examples/CMakeLists.txt
+++ b/doc/special_examples/CMakeLists.txt
@@ -7,7 +7,7 @@ endif()

 if(QT4_FOUND)
  add_executable(Tutorial_sparse_example Tutorial_sparse_example.cpp Tutorial_sparse_example_details.cpp)
-  target_link_libraries(Tutorial_sparse_example ${EIGEN_STANDARD_LIBRARIES_TO_LINK_TO} ${QT_QTCORE_LIBRARY} ${QT_QTGUI_LIBRARY})
+  target_link_libraries(Tutorial_sparse_example ${EIGEN_STANDARD_LIBRARIES_TO_LINK_TO} ${QT_QTCORE_LIBRARY} ${QT_QTGUI_LIBRARY} Eigen3::Eigen)

  add_custom_command(
    TARGET Tutorial_sparse_example
@@ -20,7 +20,7 @@ if(QT4_FOUND)
 endif()

 add_executable(random_cpp11 random_cpp11.cpp)
-target_link_libraries(random_cpp11 ${EIGEN_STANDARD_LIBRARIES_TO_LINK_TO})
+target_link_libraries(random_cpp11 ${EIGEN_STANDARD_LIBRARIES_TO_LINK_TO} Eigen3::Eigen)
 add_dependencies(all_examples random_cpp11)

 add_custom_command(
--- a/doc/special_examples/Tutorial_sparse_example_details.cpp
+++ b/doc/special_examples/Tutorial_sparse_example_details.cpp
@@ -20,7 +20,7 @@ void insertCoefficient(int id, int i, int j, double w, std::vector<T>& coeffs, E

 void buildProblem(std::vector<T>& coefficients, Eigen::VectorXd& b, int n) {
  b.setZero();
-  Eigen::ArrayXd boundary = Eigen::ArrayXd::LinSpaced(n, 0, M_PI).sin().pow(2);
+  Eigen::ArrayXd boundary = Eigen::ArrayXd::LinSpaced(n, 0, EIGEN_PI).sin().pow(2);
  for (int j = 0; j < n; ++j) {
    for (int i = 0; i < n; ++i) {
      int id = i + j * n;