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7721 Commits

Author SHA1 Message Date
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
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
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
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
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
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
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
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
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
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
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
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
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
Rasmus Munk Larsen
79d7d280a5 Fix bugs in evaluator files 
libeigen/eigen!2244

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-28 01:25:51 +00:00
Charles Schlosser
eb4b2eeffa UBSAN: use appropriate SSE intrinsics for loading 4 and 8 bytes 
libeigen/eigen!2346
 2026-03-27 19:54:10 +00:00
Tyler Veness
9939a4c6e3 Fix SparseLU and SparseQR for custom scalar types 
libeigen/eigen!2345
 2026-03-27 00:13:11 -07:00
Rasmus Munk Larsen
002229ce47 Fix RowMajor gemm_pack_lhs for backends without half/quarter packets 
libeigen/eigen!2344

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-23 23:33:42 -07:00
Rasmus Munk Larsen
843ffcec8b Fix warnings reported by NVHPC 26.1 
libeigen/eigen!2324

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-22 11:43:40 -07:00
Florian Maurin
71ef987edb Fixes triangular solves on indexed/sliced dense expressions 
libeigen/eigen!2340

Closes #2814
 2026-03-22 11:12:21 -07:00
Rasmus Munk Larsen
6490b17e6f Fix sanitizer regressions in sparse serializer and packet tests 
libeigen/eigen!2319

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-22 09:10:16 -07:00
Pavel Guzenfeld
a0e30732a7 Remove trailing semicolon from EIGEN_UNUSED_VARIABLE macro 
libeigen/eigen!2301

Closes #3007

Co-authored-by: Pavel Guzenfeld <67074795+PavelGuzenfeld@users.noreply.github.com>
 2026-03-21 16:54:13 -07:00
Rasmus Munk Larsen
54b04fc6b1 Fix mixed-type GEMM packing for backends without half/quarter packets 
libeigen/eigen!2297

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-21 09:46:54 -07:00
Pavel Guzenfeld
1d21d62fbc Fix computeInverseAndDetWithCheck for dynamic result matrices 
libeigen/eigen!2312

Closes #2917
 2026-03-21 08:38:27 -07:00
Rasmus Munk Larsen
cc8c7cf0e6 Fix bugs and clean up SparseCore module 
libeigen/eigen!2250

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-21 13:31:12 +00:00
Rasmus Munk Larsen
8115b45e50 Fix integer sanitizer issues in shifts and test ranges 
libeigen/eigen!2320

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-20 17:27:02 -07:00
Yu You
9d161e0c87 Fine-tune gebp_kernel for aarch64 
libeigen/eigen!2278
 2026-03-20 14:29:03 -07:00
Pavel Guzenfeld
30128de0e3 Guard eigen_fill_helper on trivially copyable scalars 
libeigen/eigen!2313

Closes #2956
 2026-03-20 19:03:13 +00:00
Pavel Guzenfeld
36ca36d0de Guard redundant constexpr static member redeclarations for C++17+ 
libeigen/eigen!2299

Closes #3061

Co-authored-by: Pavel Guzenfeld <67074795+PavelGuzenfeld@users.noreply.github.com>
 2026-03-18 20:24:09 -07:00
Pavel Guzenfeld
0fd8002b11 Fix most vexing parse in SparseSparseProductWithPruning.h 
libeigen/eigen!2298

Closes #3060

Co-authored-by: Pavel Guzenfeld <67074795+PavelGuzenfeld@users.noreply.github.com>
 2026-03-18 15:13:22 +00:00
Rasmus Munk Larsen
ea13a98dec Fix imag_ref for real scalar types and clean up svd_fill.h 
libeigen/eigen!2303

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-15 19:56:01 -07:00
Antonio Sánchez
929785924c Fix more cache size queries. 
libeigen/eigen!2296
 2026-03-14 16:07:44 +00:00
Antonio Sánchez
b2f95d3733 Fix more cache size queries. 
libeigen/eigen!2295
 2026-03-14 15:43:24 +00:00
Antonio Sánchez
9ae0e0f195 Remove include from within Eigen namespace. 
libeigen/eigen!2294
 2026-03-13 21:03:24 +00:00
onalante-ebay
3a2ba7c434 Optimize predux_any<Packet4f> 
libeigen/eigen!2277
 2026-03-12 09:15:16 -07:00
Rasmus Munk Larsen
8368a12f0f Add runtime cache size detection for ARM and improve GEMM blocking 
libeigen/eigen!2282

Co-authored-by: Rasmus Munk Larsen <rmlarsen@gmail.com>
 2026-03-11 22:36:33 -07:00
Charles Schlosser
2a2456c873 restore Eigen/src/Core/arch/Altivec/MatrixProduct.h to b1e74b1cc 
libeigen/eigen!2279
 2026-03-12 03:26:03 +00:00
Charles Schlosser
c4eb3c4f4c fix custom visitors 
libeigen/eigen!2275

Closes #2920
 2026-03-11 10:52:49 +00:00
Antonio Sánchez
4387e32481 Fix row-skipping bug in general_matrix_vector_product::run_small_cols 
libeigen/eigen!2276
 2026-03-10 15:16:00 -07:00
Juraj Oršulić
81550faea4 Use Web Archive for dead link for the PDF referenced in Geometry/EulerAngles.h 
libeigen/eigen!2274
 2026-03-09 20:18:43 -07:00