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Author SHA1 Message Date
Rasmus Munk Larsen
93e9970964 Run clang-format on bench_small_matrix.cpp 
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
 2026-04-04 15:28:20 -07:00
Rasmus Munk Larsen
3eed3b0ab9 Fix Gram-Schmidt bug in SelfAdjointEigenSolver::computeDirect and add small matrix benchmarks 
Fix a bug in the 3x3 direct eigensolver's Gram-Schmidt orthogonalization
for near-degenerate eigenvalues. The code was subtracting the projection
onto eivecs.col(l) (itself) instead of onto eivecs.col(k):

  // Before (bug): subtracts scalar multiple of self — does nothing useful
  eivecs.col(l) -= eivecs.col(k).dot(eivecs.col(l)) * eivecs.col(l);
  // After (fix): removes component along eivecs.col(k)
  eivecs.col(l) -= eivecs.col(k).dot(eivecs.col(l)) * eivecs.col(k);

This path is taken when two of three eigenvalues are nearly equal, which
is common for covariance matrices of near-planar point clouds.

Also add comprehensive small fixed-size matrix benchmarks covering the
operations that dominate robotics/CV inner loops: matmul, matvec,
inverse, determinant, LLT, LDLT, PartialPivLU, ColPivHouseholderQR,
JacobiSVD, SelfAdjointEigenSolver (iterative and direct) for sizes
2x2 through 8x9.

Note: the direct 3x3 eigensolver (computeDirect) is 3x faster than
the iterative solver but has 5-6 orders of magnitude worse residuals
for near-degenerate eigenvalues. This is inherent to the closed-form
algorithm, not a consequence of the Gram-Schmidt bug. Users should
prefer compute() when accuracy matters and computeDirect() only when
speed is critical and eigenvalues are well-separated.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
 2026-04-04 15:24:42 -07:00
Rasmus Munk Larsen
8ddbe44799 Add small fixed-size matrix benchmarks for robotics/CV workloads 
Benchmark the operations that dominate robotics and computer vision
inner loops: fixed-size matrix multiply, matrix-vector, inverse,
determinant, LLT, LDLT, PartialPivLU, ColPivHouseholderQR, JacobiSVD,
and SelfAdjointEigenSolver for sizes 2x2 through 8x9.

Key findings from the baseline measurements:
- MatMul/MatVec: excellent (<1ns for 3x3 float)
- Inverse 3x3: excellent (3.4ns)
- LLT 3x3→4x4: 8x jump (3.9→31.7ns float) due to inlining threshold
- ColPivQR 3x3: 166ns — expensive for such a small matrix
- JacobiSVD 3x3: 498ns double — the main CV bottleneck
- SelfAdjointEig: computeDirect() is 3.2x faster than iterative for 3x3
  (71ns vs 230ns) — many users may not know this API exists

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
 2026-04-04 15:06:32 -07:00
Rasmus Munk Larsen
fe6ada10be Prevent nightly CI pipelines from being auto-cancelled 
libeigen/eigen!2390

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-04-04 11:52:15 -07:00
Alexander Grund
8179474225 CI: Add AVX512-FP16 build tests with GCC 13 
libeigen/eigen!1652

Co-authored-by: Alexander Grund <alexander.grund@tu-dresden.de>
 2026-04-04 11:32:31 -07:00
Florian Maurin
b57d860f3e Fix GCC maybe-uninitialized warning in InnerProduct 
libeigen/eigen!2386

Closes #3015
 2026-04-03 19:41:09 -07:00
Rasmus Munk Larsen
a3074053a6 Speed up pexp_double by ~15-17% 
libeigen/eigen!2388

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-04-03 17:09:11 -07:00
Rasmus Munk Larsen
a91913e961 Speed up plog_float by 1.6x with improved accuracy 
libeigen/eigen!2382

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-04-03 13:45:01 -07:00
Rasmus Munk Larsen
ebae0c7c10 ulp_accuracy: use dynamic work queue for thread load balancing 
libeigen/eigen!2383

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-04-02 22:40:03 -07:00
Charles Schlosser
5977635d64 fix singed integer overflow UB in integer_types and other trivial compiler warnings 
libeigen/eigen!2380
 2026-04-03 03:36:28 +00:00
Rasmus Munk Larsen
60df12437e Fix ulp_accuracy crashes in Release builds 
libeigen/eigen!2381

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-04-02 20:12:13 -07:00
Pavel Guzenfeld
e315a8cdd0 Inline IndexedViewMethods.inc into DenseBase.h 
libeigen/eigen!2330

Closes #2766
 2026-04-02 15:26:56 -07:00
Rasmus Munk Larsen
8ec68856a6 Fix basicstuff_8 casting test failure on loongarch64 
libeigen/eigen!2379

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-04-02 14:14:54 -07:00
Rasmus Munk Larsen
61a8662876 Improve log1p accuracy and speed with direct range reduction 
libeigen/eigen!2378

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-04-02 11:29:25 -07:00
Rasmus Munk Larsen
d31a73437f Vectorize asinh and acosh for float and double 
libeigen/eigen!2376

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-04-01 21:46:36 -07:00
Rasmus Munk Larsen
9513d3878e Vectorize sinh, cosh, and log10 
libeigen/eigen!2368

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-04-01 20:41:18 -07:00
Rasmus Munk Larsen
30e669cfe1 Tensor module: const-correctness and constexpr improvements 
libeigen/eigen!2239

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-04-01 17:49:56 -07:00
Rasmus Munk Larsen
64885cc6a3 Fix remaining MSVC warnings in Windows CI (C4804, C4244, C4146, C4305) 
libeigen/eigen!2374

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-04-01 17:20:31 -07:00
Rasmus Munk Larsen
6a07970d7d CI: split NVHPC build and make fallback parallelism configurable 
libeigen/eigen!2372

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-04-01 16:43:33 -07:00
Rasmus Munk Larsen
4be66f2830 CI: fail test jobs when no tests are found (--no-tests=error) 
libeigen/eigen!2373

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-04-01 12:50:54 -07:00
Rasmus Munk Larsen
1df89cbc21 Right-size CI runners to reduce waste and shuffle build order to avoid OOM 
libeigen/eigen!2367

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-31 19:10:34 -07:00
Rasmus Munk Larsen
b54640df19 Fix NVHPC warnings in Visitor.h and Memory.h 
libeigen/eigen!2370

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-31 15:09:37 -07:00
Rasmus Munk Larsen
7fcbed7acb Fill packet math coverage gaps across multiple architectures 
libeigen/eigen!2237

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-31 14:52:32 -07:00
Rasmus Munk Larsen
80ab2898e2 CI: install libclang-rt-14-dev for sanitizer smoketest 
libeigen/eigen!2369

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-31 00:16:18 -07:00
Rasmus Munk Larsen
798d7f2bec CI: drop Clang-6, bump base image to Ubuntu 24.04 and Clang 12 to 14 
libeigen/eigen!2366

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-30 22:00:17 -07:00
Rasmus Munk Larsen
1ade3636b9 Fix BDCSVD bidiagonal hard-case failures on ARM with GCC 
libeigen/eigen!2365

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-30 20:17:37 -07:00
Rasmus Munk Larsen
801a9ee690 Fix ~1,460 MSVC warnings from generic code instantiated with bool 
libeigen/eigen!2364

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-29 21:05:49 -07:00
Rasmus Munk Larsen
806c7b6590 CI: fix Windows build cache key containing invalid path characters 
libeigen/eigen!2362

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-29 19:57:45 -07:00
Rasmus Munk Larsen
2776ba55eb Update slicing tutorial docs to reflect Eigen::placeholders namespace 
libeigen/eigen!2360

Closes #3064

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-29 18:51:02 -07:00
Rasmus Munk Larsen
09581fda38 Modernize tensor contraction code: bug fixes, dead code removal, and cleanup 
libeigen/eigen!2248

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-29 18:03:06 -07:00
Rasmus Munk Larsen
732ebc8cc2 Modernize evaluator files 
libeigen/eigen!2245

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-29 17:40:39 -07:00
Rasmus Munk Larsen
255f522e2e Fix bugs, docs, and structure in unsupported/ public headers 
libeigen/eigen!2254

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-29 17:06:40 -07:00
Pavel Guzenfeld
bd276fbb28 Map .inc files to C++ in Doxygen extension mapping 
libeigen/eigen!2338
 2026-03-29 16:48:13 -07:00
Rasmus Munk Larsen
c8633ceeea Clean up top-level Eigen headers 
libeigen/eigen!2252

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-29 16:28:09 -07:00
Rasmus Munk Larsen
409296d91d Add nightly benchmark regression detection pipeline 
libeigen/eigen!2349

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-29 16:03:56 -07:00
Pavel Guzenfeld
753a6ac5b3 Fix private shadowing of protected base members in iterative solvers 
libeigen/eigen!2357

Closes #1859
 2026-03-29 15:40:48 -07:00
Rasmus Munk Larsen
9fe2f03fa4 Revert "Lower BDCSVD crossover threshold from 16 to 8" 
This reverts merge request !2358
 2026-03-29 15:25:09 -07:00
Rasmus Munk Larsen
12fe90db8b Lower BDCSVD crossover threshold from 16 to 8 
libeigen/eigen!2358

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-29 14:33:22 -07:00
Pavel Guzenfeld
b7f6aed1b9 Fix dangling reference in IndexedView with expression indices 
libeigen/eigen!2335

Closes #1943
 2026-03-29 09:39:13 -07:00
Rasmus Munk Larsen
624ab58e8d Add bidiagonal SVD API to BDCSVD and remove dead debug code 
libeigen/eigen!2238

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-28 20:38:31 -07:00
Charles Schlosser
ba9871e46b fix and enable realview unit tests 
libeigen/eigen!2356
 2026-03-28 20:13:54 -07:00
Rasmus Munk Larsen
b8dab89663 CI: remove broken NVHPC CUDA pipeline 
libeigen/eigen!2355

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-28 19:52:01 -07:00
Rasmus Munk Larsen
0fe8cdfa3b Extract RankRevealingBase CRTP mixin to eliminate decomposition code duplication 
libeigen/eigen!2272

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-28 19:12:23 -07:00
Rasmus Munk Larsen
5e521f3e45 Revert "add realview test" 
This reverts merge request !2352
 2026-03-28 17:27:01 -07:00
Charles Schlosser
87ae1dbe7f add realview test 
libeigen/eigen!2352
 2026-03-28 16:26:51 -07:00
Rasmus Munk Larsen
49a137ca24 CI: limit NVHPC build parallelism to avoid OOM kills 
libeigen/eigen!2353

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-28 16:10:04 -07:00
Rasmus Munk Larsen
f928a9f534 Fix static alignment for generic clang vector backend 
libeigen/eigen!2351

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-28 15:50:58 -07:00
Rasmus Munk Larsen
9706546a14 Add Householder blocked-right regression test 
libeigen/eigen!2348

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-27 20:49:43 -07:00
Pavel Guzenfeld
90ca5bfd9a Strip lapacke.h to only the declarations used by Eigen 
libeigen/eigen!2322

Closes #2851
 2026-03-27 20:16:46 -07:00
Rasmus Munk Larsen
cf508c096b Add block Householder right-side application for HouseholderSequence 
libeigen/eigen!2342

Closes #3057

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-27 19:56:08 -07:00