bump version number

: fix warnings with recent gcc(4.3.3)

CMakeLists.txt

@@ -1,5 +1,5 @@
 project(Eigen)
-set(EIGEN_VERSION_NUMBER "2.0-rc1")
+set(EIGEN_VERSION_NUMBER "2.0.2")
 
 #if the svnversion program is absent, this will leave the SVN_REVISION string empty,
 #but won't stop CMake.

Eigen/Core

@@ -7,11 +7,10 @@
 #ifdef _MSC_VER
   #include <malloc.h> // for _aligned_malloc -- need it regardless of whether vectorization is enabled
   #if (_MSC_VER >= 1500) // 2008 or later
-    // Remember that usage of defined() in a #define is undefined by the standard
-    #ifdef _M_IX86_FP
-      #if _M_IX86_FP >= 2
-        #define EIGEN_SSE2_ON_MSVC_2008_OR_LATER
-      #endif
+    // Remember that usage of defined() in a #define is undefined by the standard.
+    // a user reported that in 64-bit mode, MSVC doesn't care to define _M_IX86_FP.
+    #if (defined(_M_IX86_FP) && (_M_IX86_FP >= 2)) || defined(_M_X64)
+      #define EIGEN_SSE2_ON_MSVC_2008_OR_LATER
     #endif   
   #endif
 #endif

Eigen/LeastSquares

@@ -5,7 +5,6 @@
 
 #include "src/Core/util/DisableMSVCWarnings.h"
 
-#include "LU"
 #include "QR"
 #include "Geometry"
 

Eigen/StdVector

@@ -1,15 +1,133 @@
 #ifndef EIGEN_STDVECTOR_MODULE_H
 #define EIGEN_STDVECTOR_MODULE_H
 
-#include "Core"
-#include <vector>
+#if defined(_GLIBCXX_VECTOR) || defined(_VECTOR_)
+#error you must include Eigen/StdVector before std::vector
+#endif                                                    
+
+#ifndef EIGEN_GNUC_AT_LEAST
+#ifdef __GNUC__
+  #define EIGEN_GNUC_AT_LEAST(x,y) ((__GNUC__>=x && __GNUC_MINOR__>=y) || __GNUC__>x)
+#else
+  #define EIGEN_GNUC_AT_LEAST(x,y) 0
+#endif
+#endif
+
+#define vector std_vector
+#include <vector>        
+#undef vector
 
 namespace Eigen {
-#include "src/StdVector/UnalignedType.h"
-} // namespace Eigen
+
+template<typename T> class aligned_allocator;
+
+// meta programming to determine if a class has a given member
+struct ei_does_not_have_aligned_operator_new_marker_sizeof {int a[1];};
+struct ei_has_aligned_operator_new_marker_sizeof {int a[2];};
+
+template<typename ClassType>
+struct ei_has_aligned_operator_new {
+    template<typename T>
+    static ei_has_aligned_operator_new_marker_sizeof
+    test(T const *, typename T::ei_operator_new_marker_type const * = 0);
+    static ei_does_not_have_aligned_operator_new_marker_sizeof
+    test(...);
+
+    // note that the following indirection is needed for gcc-3.3
+    enum {ret =  sizeof(test(static_cast<ClassType*>(0))) 
+              == sizeof(ei_has_aligned_operator_new_marker_sizeof) };
+};
+
+#ifdef _MSC_VER
+  
+  // sometimes, MSVC detects, at compile time, that the argument x
+  // in std::vector::resize(size_t s,T x) won't be aligned and generate an error
+  // even if this function is never called. Whence this little wrapper.
+  #define _EIGEN_WORKAROUND_MSVC_STD_VECTOR(T) Eigen::ei_workaround_msvc_std_vector<T>
+  template<typename T> struct ei_workaround_msvc_std_vector : public T
+  {
+    inline ei_workaround_msvc_std_vector() : T() {}
+    inline ei_workaround_msvc_std_vector(const T& other) : T(other) {}
+    inline operator T& () { return *static_cast<T*>(this); }
+    inline operator const T& () const { return *static_cast<const T*>(this); }
+    template<typename OtherT>
+    inline T& operator=(const OtherT& other)
+    { T::operator=(other); return *this; }
+    inline ei_workaround_msvc_std_vector& operator=(const ei_workaround_msvc_std_vector& other)
+    { T::operator=(other); return *this; }
+  };
+
+#else
+
+  #define _EIGEN_WORKAROUND_MSVC_STD_VECTOR(T) T
+
+#endif
+
+}
 
 namespace std {
-#include "src/StdVector/StdVector.h"
-} // namespace std
+
+#define EIGEN_STD_VECTOR_SPECIALIZATION_BODY \
+  public:  \
+    typedef T value_type; \
+    typedef typename vector_base::allocator_type allocator_type; \
+    typedef typename vector_base::size_type size_type;  \
+    typedef typename vector_base::iterator iterator;  \
+    explicit vector(const allocator_type& __a = allocator_type()) : vector_base(__a) {}  \
+    vector(const vector& c) : vector_base(c) {}  \
+    vector(size_type num, const value_type& val = value_type()) : vector_base(num, val) {} \
+    vector(iterator start, iterator end) : vector_base(start, end) {}  \
+    vector& operator=(const vector& __x) {  \
+      vector_base::operator=(__x);  \
+      return *this;  \
+    }
+
+template<typename T,
+         typename AllocT = std::allocator<T>,
+         bool HasAlignedNew = Eigen::ei_has_aligned_operator_new<T>::ret>
+class vector : public std::std_vector<T,AllocT>
+{
+  typedef std_vector<T, AllocT> vector_base;
+  EIGEN_STD_VECTOR_SPECIALIZATION_BODY
+};
+
+template<typename T,typename DummyAlloc>
+class vector<T,DummyAlloc,true>
+  : public std::std_vector<_EIGEN_WORKAROUND_MSVC_STD_VECTOR(T),
+                           Eigen::aligned_allocator<_EIGEN_WORKAROUND_MSVC_STD_VECTOR(T)> >          
+{
+  typedef std_vector<_EIGEN_WORKAROUND_MSVC_STD_VECTOR(T),
+                     Eigen::aligned_allocator<_EIGEN_WORKAROUND_MSVC_STD_VECTOR(T)> > vector_base;
+  EIGEN_STD_VECTOR_SPECIALIZATION_BODY
+
+  void resize(size_type __new_size)
+  { resize(__new_size, T()); }     
+
+  #if defined(_VECTOR_)
+  // workaround MSVC std::vector implementation
+  void resize(size_type __new_size, const value_type& __x)                 
+  {                                                              
+    if (vector_base::size() < __new_size)                                 
+      vector_base::_Insert_n(vector_base::end(), __new_size - vector_base::size(), __x);
+    else if (__new_size < vector_base::size())
+      vector_base::erase(vector_base::begin() + __new_size, vector_base::end());
+  }
+  #elif defined(_GLIBCXX_VECTOR) && EIGEN_GNUC_AT_LEAST(4,1)
+  // workaround GCC std::vector implementation
+  // Note that before gcc-4.1 we already have: std::vector::resize(size_type,const T&),
+  // no no need to workaround !
+  void resize(size_type __new_size, const value_type& __x)
+  {                                              
+    if (__new_size < vector_base::size())               
+      vector_base::_M_erase_at_end(this->_M_impl._M_start + __new_size);
+    else                       
+      vector_base::insert(vector_base::end(), __new_size - vector_base::size(), __x); 
+  }                                                              
+  #else
+  using vector_base::resize;
+  #endif  
+};
+
+}
 
 #endif // EIGEN_STDVECTOR_MODULE_H

Eigen/src/Array/PartialRedux.h

@@ -61,7 +61,11 @@ struct ei_traits<PartialReduxExpr<MatrixType, MemberOp, Direction> >
     Flags = (unsigned int)_MatrixTypeNested::Flags & HereditaryBits,
     TraversalSize = Direction==Vertical ? RowsAtCompileTime : ColsAtCompileTime
   };
+  #if EIGEN_GNUC_AT_LEAST(3,4)
   typedef typename MemberOp::template Cost<InputScalar,int(TraversalSize)> CostOpType;
+  #else
+  typedef typename MemberOp::template Cost<InputScalar,TraversalSize> CostOpType;
+  #endif
   enum {
     CoeffReadCost = TraversalSize * ei_traits<_MatrixTypeNested>::CoeffReadCost + int(CostOpType::value)
   };
@@ -104,7 +108,7 @@ class PartialReduxExpr : ei_no_assignment_operator,
     { enum { value = COST }; };                                     \
     template<typename Derived>                                      \
     inline ResultType operator()(const MatrixBase<Derived>& mat) const     \
-    { return mat.MEMBER(); }                                        \
+    { return mat.MEMBER(); } \
   }
 
 EIGEN_MEMBER_FUNCTOR(squaredNorm, Size * NumTraits<Scalar>::MulCost + (Size-1)*NumTraits<Scalar>::AddCost);

Eigen/src/Array/Random.h

@@ -110,7 +110,7 @@ MatrixBase<Derived>::Random()
   * Example: \include MatrixBase_setRandom.cpp
   * Output: \verbinclude MatrixBase_setRandom.out
   *
-  * \sa class CwiseNullaryOp, MatrixBase::setRandom(int,int)
+  * \sa class CwiseNullaryOp, setRandom(int), setRandom(int,int)
   */
 template<typename Derived>
 inline Derived& MatrixBase<Derived>::setRandom()
@@ -118,4 +118,39 @@ inline Derived& MatrixBase<Derived>::setRandom()
   return *this = Random(rows(), cols());
 }
 
+/** Resizes to the given \a size, and sets all coefficients in this expression to random values.
+  *
+  * \only_for_vectors
+  *
+  * Example: \include Matrix_setRandom_int.cpp
+  * Output: \verbinclude Matrix_setRandom_int.out
+  *
+  * \sa MatrixBase::setRandom(), setRandom(int,int), class CwiseNullaryOp, MatrixBase::Random()
+  */
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+EIGEN_STRONG_INLINE Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>&
+Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::setRandom(int size)
+{
+  resize(size);
+  return setRandom();
+}
+
+/** Resizes to the given size, and sets all coefficients in this expression to random values.
+  *
+  * \param rows the new number of rows
+  * \param cols the new number of columns
+  *
+  * Example: \include Matrix_setRandom_int_int.cpp
+  * Output: \verbinclude Matrix_setRandom_int_int.out
+  *
+  * \sa MatrixBase::setRandom(), setRandom(int), class CwiseNullaryOp, MatrixBase::Random()
+  */
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+EIGEN_STRONG_INLINE Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>&
+Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::setRandom(int rows, int cols)
+{
+  resize(rows, cols);
+  return setRandom();
+}
+
 #endif // EIGEN_RANDOM_H

Eigen/src/CMakeLists.txt

@@ -7,4 +7,3 @@ ADD_SUBDIRECTORY(Array)
 ADD_SUBDIRECTORY(Geometry)
 ADD_SUBDIRECTORY(LeastSquares)
 ADD_SUBDIRECTORY(Sparse)
-ADD_SUBDIRECTORY(StdVector)

Eigen/src/Core/Assign.h

@@ -353,7 +353,7 @@ struct ei_assign_impl<Derived1, Derived2, SliceVectorization, NoUnrolling>
     const int outerSize = dst.outerSize();
     const int alignedStep = (packetSize - dst.stride() % packetSize) & packetAlignedMask;
     int alignedStart = ei_assign_traits<Derived1,Derived2>::DstIsAligned ? 0
-                     : ei_alignmentOffset(&dst.coeffRef(0), innerSize);
+                     : ei_alignmentOffset(&dst.coeffRef(0,0), innerSize);
 
     for(int i = 0; i < outerSize; ++i)
     {

Eigen/src/Core/Block.h

@@ -61,27 +61,28 @@
   *
   * \sa MatrixBase::block(int,int,int,int), MatrixBase::block(int,int), class VectorBlock
   */
+
 template<typename MatrixType, int BlockRows, int BlockCols, int _PacketAccess, int _DirectAccessStatus>
 struct ei_traits<Block<MatrixType, BlockRows, BlockCols, _PacketAccess, _DirectAccessStatus> >
 {
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename MatrixType::Nested MatrixTypeNested;
+  typedef typename ei_traits<MatrixType>::Scalar Scalar;
+  typedef typename ei_nested<MatrixType>::type MatrixTypeNested;
   typedef typename ei_unref<MatrixTypeNested>::type _MatrixTypeNested;
   enum{
-    RowsAtCompileTime = MatrixType::RowsAtCompileTime == 1 ? 1 : BlockRows,
-    ColsAtCompileTime = MatrixType::ColsAtCompileTime == 1 ? 1 : BlockCols,
+    RowsAtCompileTime = ei_traits<MatrixType>::RowsAtCompileTime == 1 ? 1 : BlockRows,
+    ColsAtCompileTime = ei_traits<MatrixType>::ColsAtCompileTime == 1 ? 1 : BlockCols,
     MaxRowsAtCompileTime = RowsAtCompileTime == 1 ? 1
-      : (BlockRows==Dynamic ? MatrixType::MaxRowsAtCompileTime : BlockRows),
+      : (BlockRows==Dynamic ? int(ei_traits<MatrixType>::MaxRowsAtCompileTime) : BlockRows),
     MaxColsAtCompileTime = ColsAtCompileTime == 1 ? 1
-      : (BlockCols==Dynamic ? MatrixType::MaxColsAtCompileTime : BlockCols),
-    RowMajor = int(MatrixType::Flags)&RowMajorBit,
-    InnerSize = RowMajor ? ColsAtCompileTime : RowsAtCompileTime,
-    InnerMaxSize = RowMajor ? MaxColsAtCompileTime : MaxRowsAtCompileTime,
+      : (BlockCols==Dynamic ? int(ei_traits<MatrixType>::MaxColsAtCompileTime) : BlockCols),
+    RowMajor = int(ei_traits<MatrixType>::Flags)&RowMajorBit,
+    InnerSize = RowMajor ? int(ColsAtCompileTime) : int(RowsAtCompileTime),
+    InnerMaxSize = RowMajor ? int(MaxColsAtCompileTime) : int(MaxRowsAtCompileTime),
     MaskPacketAccessBit = (InnerMaxSize == Dynamic || (InnerSize >= ei_packet_traits<Scalar>::size))
                         ? PacketAccessBit : 0,
     FlagsLinearAccessBit = (RowsAtCompileTime == 1 || ColsAtCompileTime == 1) ? LinearAccessBit : 0,
-    Flags = (MatrixType::Flags & (HereditaryBits | MaskPacketAccessBit | DirectAccessBit)) | FlagsLinearAccessBit,
-    CoeffReadCost = MatrixType::CoeffReadCost,
+    Flags = (ei_traits<MatrixType>::Flags & (HereditaryBits | MaskPacketAccessBit | DirectAccessBit)) | FlagsLinearAccessBit,
+    CoeffReadCost = ei_traits<MatrixType>::CoeffReadCost,
     PacketAccess = _PacketAccess
   };
   typedef typename ei_meta_if<int(PacketAccess)==ForceAligned,
@@ -122,7 +123,7 @@ template<typename MatrixType, int BlockRows, int BlockCols, int PacketAccess, in
       : m_matrix(matrix), m_startRow(startRow), m_startCol(startCol),
         m_blockRows(matrix.rows()), m_blockCols(matrix.cols())
     {
-      EIGEN_STATIC_ASSERT(RowsAtCompileTime!=Dynamic && RowsAtCompileTime!=Dynamic,THIS_METHOD_IS_ONLY_FOR_FIXED_SIZE)
+      EIGEN_STATIC_ASSERT(RowsAtCompileTime!=Dynamic && ColsAtCompileTime!=Dynamic,THIS_METHOD_IS_ONLY_FOR_FIXED_SIZE)
       ei_assert(startRow >= 0 && BlockRows >= 1 && startRow + BlockRows <= matrix.rows()
           && startCol >= 0 && BlockCols >= 1 && startCol + BlockCols <= matrix.cols());
     }
@@ -221,15 +222,13 @@ class Block<MatrixType,BlockRows,BlockCols,PacketAccess,HasDirectAccess>
 
     class InnerIterator;
     typedef typename ei_traits<Block>::AlignedDerivedType AlignedDerivedType;
+    friend class Block<MatrixType,BlockRows,BlockCols,PacketAccess==AsRequested?ForceAligned:AsRequested,HasDirectAccess>;
 
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Block)
 
-    AlignedDerivedType forceAligned()
+    AlignedDerivedType _convertToForceAligned()
     {
-      if (PacketAccess==ForceAligned)
-        return *this;
-      else
-        return Block<MatrixType,BlockRows,BlockCols,ForceAligned,HasDirectAccess>
+      return Block<MatrixType,BlockRows,BlockCols,ForceAligned,HasDirectAccess>
                     (m_matrix, Base::m_data, Base::m_rows.value(), Base::m_cols.value());
     }
 
@@ -454,7 +453,7 @@ MatrixBase<Derived>::end(int size) const
   * \only_for_vectors
   *
   * The template parameter \a Size is the number of coefficients in the block
-  * 
+  *
   * \param start the index of the first element of the sub-vector
   *
   * Example: \include MatrixBase_template_int_segment.cpp

Eigen/src/Core/CacheFriendlyProduct.h

@@ -361,13 +361,14 @@ static EIGEN_DONT_INLINE void ei_cache_friendly_product_colmajor_times_vector(
   #ifdef _EIGEN_ACCUMULATE_PACKETS
   #error _EIGEN_ACCUMULATE_PACKETS has already been defined
   #endif
-
-  #define _EIGEN_ACCUMULATE_PACKETS(A0,A13,A2,OFFSET) \
-    ei_pstore(&res[j OFFSET], \
-      ei_padd(ei_pload(&res[j OFFSET]), \
+  #define _EIGEN_ACCUMULATE_PACKETS(A0,A13,A2) \
+    ei_pstore(&res[j], \
+      ei_padd(ei_pload(&res[j]), \
         ei_padd( \
-          ei_padd(ei_pmul(ptmp0,ei_pload ## A0(&lhs0[j OFFSET])),ei_pmul(ptmp1,ei_pload ## A13(&lhs1[j OFFSET]))), \
-          ei_padd(ei_pmul(ptmp2,ei_pload ## A2(&lhs2[j OFFSET])),ei_pmul(ptmp3,ei_pload ## A13(&lhs3[j OFFSET]))) )))
+          ei_padd(ei_pmul(ptmp0,EIGEN_CAT(ei_ploa , A0)(&lhs0[j])), \
+                  ei_pmul(ptmp1,EIGEN_CAT(ei_ploa , A13)(&lhs1[j]))), \
+          ei_padd(ei_pmul(ptmp2,EIGEN_CAT(ei_ploa , A2)(&lhs2[j])), \
+                  ei_pmul(ptmp3,EIGEN_CAT(ei_ploa , A13)(&lhs3[j]))) )))
 
   typedef typename ei_packet_traits<Scalar>::type Packet;
   const int PacketSize = sizeof(Packet)/sizeof(Scalar);
@@ -397,7 +398,7 @@ static EIGEN_DONT_INLINE void ei_cache_friendly_product_colmajor_times_vector(
   if (PacketSize>1)
   {
     ei_internal_assert(size_t(lhs+lhsAlignmentOffset)%sizeof(Packet)==0 || size<PacketSize);
-    
+
     while (skipColumns<PacketSize &&
            alignedStart != ((lhsAlignmentOffset + alignmentStep*skipColumns)%PacketSize))
       ++skipColumns;
@@ -418,7 +419,7 @@ static EIGEN_DONT_INLINE void ei_cache_friendly_product_colmajor_times_vector(
 
   int offset1 = (FirstAligned && alignmentStep==1?3:1);
   int offset3 = (FirstAligned && alignmentStep==1?1:3);
-  
+
   int columnBound = ((rhs.size()-skipColumns)/columnsAtOnce)*columnsAtOnce + skipColumns;
   for (int i=skipColumns; i<columnBound; i+=columnsAtOnce)
   {
@@ -433,13 +434,8 @@ static EIGEN_DONT_INLINE void ei_cache_friendly_product_colmajor_times_vector(
     {
       /* explicit vectorization */
       // process initial unaligned coeffs
-      for (int j=0; j<alignedStart; ++j) {
-        Scalar s = ei_pfirst(ptmp0)*lhs0[j];
-        s += ei_pfirst(ptmp1)*lhs1[j]; 
-        s += ei_pfirst(ptmp2)*lhs2[j];
-        s += ei_pfirst(ptmp3)*lhs3[j];
-        res[j] += s;
-      }
+      for (int j=0; j<alignedStart; ++j)
+        res[j] += ei_pfirst(ptmp0)*lhs0[j] + ei_pfirst(ptmp1)*lhs1[j] + ei_pfirst(ptmp2)*lhs2[j] + ei_pfirst(ptmp3)*lhs3[j];
 
       if (alignedSize>alignedStart)
       {
@@ -447,11 +443,11 @@ static EIGEN_DONT_INLINE void ei_cache_friendly_product_colmajor_times_vector(
         {
           case AllAligned:
             for (int j = alignedStart; j<alignedSize; j+=PacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(,,,);
+              _EIGEN_ACCUMULATE_PACKETS(d,d,d);
             break;
           case EvenAligned:
             for (int j = alignedStart; j<alignedSize; j+=PacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(,u,,);
+              _EIGEN_ACCUMULATE_PACKETS(d,du,d);
             break;
           case FirstAligned:
             if(peels>1)
@@ -487,11 +483,11 @@ static EIGEN_DONT_INLINE void ei_cache_friendly_product_colmajor_times_vector(
               }
             }
             for (int j = peeledSize; j<alignedSize; j+=PacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(,u,u,);
+              _EIGEN_ACCUMULATE_PACKETS(d,du,du);
             break;
           default:
             for (int j = alignedStart; j<alignedSize; j+=PacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(u,u,u,);
+              _EIGEN_ACCUMULATE_PACKETS(du,du,du);
             break;
         }
       }
@@ -499,7 +495,7 @@ static EIGEN_DONT_INLINE void ei_cache_friendly_product_colmajor_times_vector(
 
     /* process remaining coeffs (or all if there is no explicit vectorization) */
     for (int j=alignedSize; j<size; ++j)
-	  res[j] += ei_pfirst(ptmp0)*lhs0[j] + ei_pfirst(ptmp1)*lhs1[j] + ei_pfirst(ptmp2)*lhs2[j] + ei_pfirst(ptmp3)*lhs3[j];
+      res[j] += ei_pfirst(ptmp0)*lhs0[j] + ei_pfirst(ptmp1)*lhs1[j] + ei_pfirst(ptmp2)*lhs2[j] + ei_pfirst(ptmp3)*lhs3[j];
   }
 
   // process remaining first and last columns (at most columnsAtOnce-1)
@@ -555,12 +551,12 @@ static EIGEN_DONT_INLINE void ei_cache_friendly_product_rowmajor_times_vector(
   #error _EIGEN_ACCUMULATE_PACKETS has already been defined
   #endif
 
-  #define _EIGEN_ACCUMULATE_PACKETS(A0,A13,A2,OFFSET) {\
+  #define _EIGEN_ACCUMULATE_PACKETS(A0,A13,A2) {\
     Packet b = ei_pload(&rhs[j]); \
-    ptmp0 = ei_pmadd(b, ei_pload##A0 (&lhs0[j]), ptmp0); \
-    ptmp1 = ei_pmadd(b, ei_pload##A13(&lhs1[j]), ptmp1); \
-    ptmp2 = ei_pmadd(b, ei_pload##A2 (&lhs2[j]), ptmp2); \
-    ptmp3 = ei_pmadd(b, ei_pload##A13(&lhs3[j]), ptmp3); }
+    ptmp0 = ei_pmadd(b, EIGEN_CAT(ei_ploa,A0) (&lhs0[j]), ptmp0); \
+    ptmp1 = ei_pmadd(b, EIGEN_CAT(ei_ploa,A13)(&lhs1[j]), ptmp1); \
+    ptmp2 = ei_pmadd(b, EIGEN_CAT(ei_ploa,A2) (&lhs2[j]), ptmp2); \
+    ptmp3 = ei_pmadd(b, EIGEN_CAT(ei_ploa,A13)(&lhs3[j]), ptmp3); }
 
   typedef typename ei_packet_traits<Scalar>::type Packet;
   const int PacketSize = sizeof(Packet)/sizeof(Scalar);
@@ -585,13 +581,13 @@ static EIGEN_DONT_INLINE void ei_cache_friendly_product_rowmajor_times_vector(
 
   // we cannot assume the first element is aligned because of sub-matrices
   const int lhsAlignmentOffset = ei_alignmentOffset(lhs,size);
-  
+
   // find how many rows do we have to skip to be aligned with rhs (if possible)
   int skipRows = 0;
   if (PacketSize>1)
   {
     ei_internal_assert(size_t(lhs+lhsAlignmentOffset)%sizeof(Packet)==0  || size<PacketSize);
-    
+
     while (skipRows<PacketSize &&
            alignedStart != ((lhsAlignmentOffset + alignmentStep*skipRows)%PacketSize))
       ++skipRows;
@@ -612,7 +608,7 @@ static EIGEN_DONT_INLINE void ei_cache_friendly_product_rowmajor_times_vector(
 
   int offset1 = (FirstAligned && alignmentStep==1?3:1);
   int offset3 = (FirstAligned && alignmentStep==1?1:3);
-  
+
   int rowBound = ((res.size()-skipRows)/rowsAtOnce)*rowsAtOnce + skipRows;
   for (int i=skipRows; i<rowBound; i+=rowsAtOnce)
   {
@@ -626,7 +622,7 @@ static EIGEN_DONT_INLINE void ei_cache_friendly_product_rowmajor_times_vector(
     {
       /* explicit vectorization */
       Packet ptmp0 = ei_pset1(Scalar(0)), ptmp1 = ei_pset1(Scalar(0)), ptmp2 = ei_pset1(Scalar(0)), ptmp3 = ei_pset1(Scalar(0));
-      
+
       // process initial unaligned coeffs
       // FIXME this loop get vectorized by the compiler !
       for (int j=0; j<alignedStart; ++j)
@@ -641,11 +637,11 @@ static EIGEN_DONT_INLINE void ei_cache_friendly_product_rowmajor_times_vector(
         {
           case AllAligned:
             for (int j = alignedStart; j<alignedSize; j+=PacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(,,,);
+              _EIGEN_ACCUMULATE_PACKETS(d,d,d);
             break;
           case EvenAligned:
             for (int j = alignedStart; j<alignedSize; j+=PacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(,u,,);
+              _EIGEN_ACCUMULATE_PACKETS(d,du,d);
             break;
           case FirstAligned:
             if (peels>1)
@@ -684,11 +680,11 @@ static EIGEN_DONT_INLINE void ei_cache_friendly_product_rowmajor_times_vector(
               }
             }
             for (int j = peeledSize; j<alignedSize; j+=PacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(,u,u,);
+              _EIGEN_ACCUMULATE_PACKETS(d,du,du);
             break;
           default:
             for (int j = alignedStart; j<alignedSize; j+=PacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(u,u,u,);
+              _EIGEN_ACCUMULATE_PACKETS(du,du,du);
             break;
         }
         tmp0 += ei_predux(ptmp0);

Eigen/src/Core/CwiseNullaryOp.h

@@ -146,6 +146,7 @@ template<typename CustomNullaryOp>
 EIGEN_STRONG_INLINE const CwiseNullaryOp<CustomNullaryOp, Derived>
 MatrixBase<Derived>::NullaryExpr(int size, const CustomNullaryOp& func)
 {
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   ei_assert(IsVectorAtCompileTime);
   if(RowsAtCompileTime == 1) return CwiseNullaryOp<CustomNullaryOp, Derived>(1, size, func);
   else return CwiseNullaryOp<CustomNullaryOp, Derived>(size, 1, func);
@@ -227,6 +228,7 @@ MatrixBase<Derived>::Constant(const Scalar& value)
   return NullaryExpr(RowsAtCompileTime, ColsAtCompileTime, ei_scalar_constant_op<Scalar>(value));
 }
 
+/** \returns true if all coefficients in this matrix are approximately equal to \a value, to within precision \a prec */
 template<typename Derived>
 bool MatrixBase<Derived>::isApproxToConstant
 (const Scalar& value, RealScalar prec) const
@@ -238,6 +240,16 @@ bool MatrixBase<Derived>::isApproxToConstant
   return true;
 }
 
+/** This is just an alias for isApproxToConstant().
+  *
+  * \returns true if all coefficients in this matrix are approximately equal to \a value, to within precision \a prec */
+template<typename Derived>
+bool MatrixBase<Derived>::isConstant
+(const Scalar& value, RealScalar prec) const
+{
+  return isApproxToConstant(value, prec);
+}
+
 /** Alias for setConstant(): sets all coefficients in this expression to \a value.
   *
   * \sa setConstant(), Constant(), class CwiseNullaryOp
@@ -250,7 +262,7 @@ EIGEN_STRONG_INLINE void MatrixBase<Derived>::fill(const Scalar& value)
 
 /** Sets all coefficients in this expression to \a value.
   *
-  * \sa fill(), Constant(), class CwiseNullaryOp, setZero(), setOnes()
+  * \sa fill(), setConstant(int,const Scalar&), setConstant(int,int,const Scalar&), setZero(), setOnes(), Constant(), class CwiseNullaryOp, setZero(), setOnes()
   */
 template<typename Derived>
 EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::setConstant(const Scalar& value)
@@ -258,6 +270,42 @@ EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::setConstant(const Scalar& valu
   return derived() = Constant(rows(), cols(), value);
 }
 
+/** Resizes to the given \a size, and sets all coefficients in this expression to the given \a value.
+  *
+  * \only_for_vectors
+  *
+  * Example: \include Matrix_set_int.cpp
+  * Output: \verbinclude Matrix_setConstant_int.out
+  *
+  * \sa MatrixBase::setConstant(const Scalar&), setConstant(int,int,const Scalar&), class CwiseNullaryOp, MatrixBase::Constant(const Scalar&)
+  */
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+EIGEN_STRONG_INLINE Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>&
+Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::setConstant(int size, const Scalar& value)
+{
+  resize(size);
+  return setConstant(value);
+}
+
+/** Resizes to the given size, and sets all coefficients in this expression to the given \a value.
+  *
+  * \param rows the new number of rows
+  * \param cols the new number of columns
+  *
+  * Example: \include Matrix_setConstant_int_int.cpp
+  * Output: \verbinclude Matrix_setConstant_int_int.out
+  *
+  * \sa MatrixBase::setConstant(const Scalar&), setConstant(int,const Scalar&), class CwiseNullaryOp, MatrixBase::Constant(const Scalar&)
+  */
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+EIGEN_STRONG_INLINE Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>&
+Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::setConstant(int rows, int cols, const Scalar& value)
+{
+  resize(rows, cols);
+  return setConstant(value);
+}
+
+
 // zero:
 
 /** \returns an expression of a zero matrix.
@@ -354,6 +402,41 @@ EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::setZero()
   return setConstant(Scalar(0));
 }
 
+/** Resizes to the given \a size, and sets all coefficients in this expression to zero.
+  *
+  * \only_for_vectors
+  *
+  * Example: \include Matrix_setZero_int.cpp
+  * Output: \verbinclude Matrix_setZero_int.out
+  *
+  * \sa MatrixBase::setZero(), setZero(int,int), class CwiseNullaryOp, MatrixBase::Zero()
+  */
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+EIGEN_STRONG_INLINE Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>&
+Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::setZero(int size)
+{
+  resize(size);
+  return setConstant(Scalar(0));
+}
+
+/** Resizes to the given size, and sets all coefficients in this expression to zero.
+  *
+  * \param rows the new number of rows
+  * \param cols the new number of columns
+  *
+  * Example: \include Matrix_setZero_int_int.cpp
+  * Output: \verbinclude Matrix_setZero_int_int.out
+  *
+  * \sa MatrixBase::setZero(), setZero(int), class CwiseNullaryOp, MatrixBase::Zero()
+  */
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+EIGEN_STRONG_INLINE Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>&
+Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::setZero(int rows, int cols)
+{
+  resize(rows, cols);
+  return setConstant(Scalar(0));
+}
+
 // ones:
 
 /** \returns an expression of a matrix where all coefficients equal one.
@@ -447,6 +530,41 @@ EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::setOnes()
   return setConstant(Scalar(1));
 }
 
+/** Resizes to the given \a size, and sets all coefficients in this expression to one.
+  *
+  * \only_for_vectors
+  *
+  * Example: \include Matrix_setOnes_int.cpp
+  * Output: \verbinclude Matrix_setOnes_int.out
+  *
+  * \sa MatrixBase::setOnes(), setOnes(int,int), class CwiseNullaryOp, MatrixBase::Ones()
+  */
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+EIGEN_STRONG_INLINE Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>&
+Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::setOnes(int size)
+{
+  resize(size);
+  return setConstant(Scalar(1));
+}
+
+/** Resizes to the given size, and sets all coefficients in this expression to one.
+  *
+  * \param rows the new number of rows
+  * \param cols the new number of columns
+  *
+  * Example: \include Matrix_setOnes_int_int.cpp
+  * Output: \verbinclude Matrix_setOnes_int_int.out
+  *
+  * \sa MatrixBase::setOnes(), setOnes(int), class CwiseNullaryOp, MatrixBase::Ones()
+  */
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+EIGEN_STRONG_INLINE Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>&
+Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::setOnes(int rows, int cols)
+{
+  resize(rows, cols);
+  return setConstant(Scalar(1));
+}
+
 // Identity:
 
 /** \returns an expression of the identity matrix (not necessarily square).
@@ -556,6 +674,24 @@ EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::setIdentity()
   return ei_setIdentity_impl<Derived>::run(derived());
 }
 
+/** Resizes to the given size, and writes the identity expression (not necessarily square) into *this.
+  *
+  * \param rows the new number of rows
+  * \param cols the new number of columns
+  *
+  * Example: \include Matrix_setIdentity_int_int.cpp
+  * Output: \verbinclude Matrix_setIdentity_int_int.out
+  *
+  * \sa MatrixBase::setIdentity(), class CwiseNullaryOp, MatrixBase::Identity()
+  */
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+EIGEN_STRONG_INLINE Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>&
+Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::setIdentity(int rows, int cols)
+{
+  resize(rows, cols);
+  return setIdentity();
+}
+
 /** \returns an expression of the i-th unit (basis) vector.
   *
   * \only_for_vectors

Eigen/src/Core/Map.h

@@ -66,12 +66,9 @@ template<typename MatrixType, int PacketAccess> class Map
 
     inline int stride() const { return this->innerSize(); }
 
-    AlignedDerivedType forceAligned()
+    AlignedDerivedType _convertToForceAligned()
     {
-      if (PacketAccess==ForceAligned)
-        return *this;
-      else
-        return Map<MatrixType,ForceAligned>(Base::m_data, Base::m_rows.value(), Base::m_cols.value());
+      return Map<MatrixType,ForceAligned>(Base::m_data, Base::m_rows.value(), Base::m_cols.value());
     }
 
     inline Map(const Scalar* data) : Base(data) {}

Eigen/src/Core/MapBase.h

@@ -65,9 +65,20 @@ template<typename Derived> class MapBase
     inline int stride() const { return derived().stride(); }
     inline const Scalar* data() const { return m_data; }
 
+    template<bool IsForceAligned,typename Dummy> struct force_aligned_impl {
+      AlignedDerivedType static run(MapBase& a) { return a.derived(); }
+    };
+
+    template<typename Dummy> struct force_aligned_impl<false,Dummy> {
+      AlignedDerivedType static run(MapBase& a) { return a.derived()._convertToForceAligned(); }
+    };
+
     /** \returns an expression equivalent to \c *this but having the \c PacketAccess constant
       * set to \c ForceAligned. Must be reimplemented by the derived class. */
-    AlignedDerivedType forceAligned() { return derived().forceAligned(); }
+    AlignedDerivedType forceAligned()
+    {
+      return force_aligned_impl<int(PacketAccess)==int(ForceAligned),Derived>::run(*this);
+    }
 
     inline const Scalar& coeff(int row, int col) const
     {
@@ -96,7 +107,11 @@ template<typename Derived> class MapBase
 
     inline Scalar& coeffRef(int index)
     {
-      return *const_cast<Scalar*>(m_data + index);
+      ei_assert(Derived::IsVectorAtCompileTime || (ei_traits<Derived>::Flags & LinearAccessBit));
+      if ( ((RowsAtCompileTime == 1) == IsRowMajor) )
+        return const_cast<Scalar*>(m_data)[index];
+      else
+        return const_cast<Scalar*>(m_data)[index*stride()];
     }
 
     template<int LoadMode>
@@ -150,7 +165,20 @@ template<typename Derived> class MapBase
               || (   rows > 0 && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == rows)
                   && cols > 0 && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == cols)));
     }
+
+    Derived& operator=(const MapBase& other)
+    {
+      return Base::operator=(other);
+    }
+
+    template<typename OtherDerived>
+    Derived& operator=(const MatrixBase<OtherDerived>& other)
+    {
+      return Base::operator=(other);
+    }
     
+    using Base::operator*=;
+
     template<typename OtherDerived>
     Derived& operator+=(const MatrixBase<OtherDerived>& other)
     { return derived() = forceAligned() + other; }

Eigen/src/Core/Matrix.h

@@ -226,7 +226,6 @@ class Matrix
       */
     inline void resize(int rows, int cols)
     {
-      ei_assert(rows > 0 && cols > 0 && "a matrix cannot be resized to 0 size");
       ei_assert((MaxRowsAtCompileTime == Dynamic || MaxRowsAtCompileTime >= rows)
              && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == rows)
              && (MaxColsAtCompileTime == Dynamic || MaxColsAtCompileTime >= cols)
@@ -240,7 +239,6 @@ class Matrix
       */
     inline void resize(int size)
     {
-      ei_assert(size>0 && "a vector cannot be resized to 0 length");
       EIGEN_STATIC_ASSERT_VECTOR_ONLY(Matrix)
       if(RowsAtCompileTime == 1)
         m_storage.resize(size, 1, size);
@@ -440,6 +438,25 @@ class Matrix
     { return AlignedMapType(data, rows, cols); }
     //@}
 
+    using Base::setConstant;
+    Matrix& setConstant(int size, const Scalar& value);
+    Matrix& setConstant(int rows, int cols, const Scalar& value);
+
+    using Base::setZero;
+    Matrix& setZero(int size);
+    Matrix& setZero(int rows, int cols);
+
+    using Base::setOnes;
+    Matrix& setOnes(int size);
+    Matrix& setOnes(int rows, int cols);
+
+    using Base::setRandom;
+    Matrix& setRandom(int size);
+    Matrix& setRandom(int rows, int cols);
+
+    using Base::setIdentity;
+    Matrix& setIdentity(int rows, int cols);
+
 /////////// Geometry module ///////////
 
     template<typename OtherDerived>

Eigen/src/Core/MatrixBase.h

@@ -463,6 +463,7 @@ template<typename Derived> class MatrixBase
                            RealScalar prec = precision<Scalar>()) const;
 
     bool isApproxToConstant(const Scalar& value, RealScalar prec = precision<Scalar>()) const;
+    bool isConstant(const Scalar& value, RealScalar prec = precision<Scalar>()) const;
     bool isZero(RealScalar prec = precision<Scalar>()) const;
     bool isOnes(RealScalar prec = precision<Scalar>()) const;
     bool isIdentity(RealScalar prec = precision<Scalar>()) const;

Eigen/src/Core/MatrixStorage.h

@@ -176,7 +176,10 @@ template<typename T, int _Options> class ei_matrix_storage<T, Dynamic, Dynamic,
       if(size != m_rows*m_cols)
       {
         ei_aligned_delete(m_data, m_rows*m_cols);
-        m_data = ei_aligned_new<T>(size);
+        if (size)
+          m_data = ei_aligned_new<T>(size);
+        else
+          m_data = 0;
       }
       m_rows = rows;
       m_cols = cols;
@@ -203,7 +206,10 @@ template<typename T, int _Rows, int _Options> class ei_matrix_storage<T, Dynamic
       if(size != _Rows*m_cols)
       {
         ei_aligned_delete(m_data, _Rows*m_cols);
-        m_data = ei_aligned_new<T>(size);
+        if (size)
+          m_data = ei_aligned_new<T>(size);
+        else
+          m_data = 0;
       }
       m_cols = cols;
     }
@@ -229,7 +235,10 @@ template<typename T, int _Cols, int _Options> class ei_matrix_storage<T, Dynamic
       if(size != m_rows*_Cols)
       {
         ei_aligned_delete(m_data, _Cols*m_rows);
-        m_data = ei_aligned_new<T>(size);
+        if (size)
+          m_data = ei_aligned_new<T>(size);
+        else
+          m_data = 0;
       }
       m_rows = rows;
     }

Eigen/src/Core/Part.h

@@ -26,7 +26,7 @@
 #ifndef EIGEN_PART_H
 #define EIGEN_PART_H
 
-/** \nonstableyet 
+/** \nonstableyet
   * \class Part
   *
   * \brief Expression of a triangular matrix extracted from a given matrix
@@ -117,10 +117,10 @@ template<typename MatrixType, unsigned int Mode> class Part
     const Block<Part, RowsAtCompileTime, 1> col(int i) { return Base::col(i); }
     const Block<Part, RowsAtCompileTime, 1> col(int i) const { return Base::col(i); }
 
-    template<typename OtherDerived/*, int OtherMode*/>
+    template<typename OtherDerived>
     void swap(const MatrixBase<OtherDerived>& other)
     {
-      Part<SwapWrapper<MatrixType>,Mode>(SwapWrapper<MatrixType>(const_cast<MatrixType&>(m_matrix))).lazyAssign(other.derived());
+      Part<SwapWrapper<MatrixType>,Mode>(const_cast<MatrixType&>(m_matrix)).lazyAssign(other.derived());
     }
 
   protected:
@@ -128,7 +128,7 @@ template<typename MatrixType, unsigned int Mode> class Part
     const typename MatrixType::Nested m_matrix;
 };
 
-/** \nonstableyet 
+/** \nonstableyet
   * \returns an expression of a triangular matrix extracted from the current matrix
   *
   * The parameter \a Mode can have the following values: \c UpperTriangular, \c StrictlyUpperTriangular, \c UnitUpperTriangular,
@@ -280,7 +280,7 @@ void Part<MatrixType, Mode>::lazyAssign(const Other& other)
     >::run(m_matrix.const_cast_derived(), other.derived());
 }
 
-/** \nonstableyet 
+/** \nonstableyet
   * \returns a lvalue pseudo-expression allowing to perform special operations on \c *this.
   *
   * The \a Mode parameter can have the following values: \c UpperTriangular, \c StrictlyUpperTriangular, \c LowerTriangular,

Eigen/src/Core/arch/SSE/PacketMath.h

@@ -114,9 +114,16 @@ template<> EIGEN_STRONG_INLINE void ei_pstoreu<float>(float*  to, const __m128&
 template<> EIGEN_STRONG_INLINE void ei_pstoreu<double>(double* to, const __m128d& from) { _mm_storeu_pd(to, from); }
 template<> EIGEN_STRONG_INLINE void ei_pstoreu<int>(int*    to, const __m128i& from) { _mm_storeu_si128(reinterpret_cast<__m128i*>(to), from); }
 
+#ifdef _MSC_VER
+// this fix internal compilation error
+template<> EIGEN_STRONG_INLINE float  ei_pfirst<__m128>(const __m128&  a) { float x = _mm_cvtss_f32(a); return x; }
+template<> EIGEN_STRONG_INLINE double ei_pfirst<__m128d>(const __m128d& a) { double x = _mm_cvtsd_f64(a); return x; }
+template<> EIGEN_STRONG_INLINE int    ei_pfirst<__m128i>(const __m128i& a) { int x = _mm_cvtsi128_si32(a); return x; }
+#else
 template<> EIGEN_STRONG_INLINE float  ei_pfirst<__m128>(const __m128&  a) { return _mm_cvtss_f32(a); }
 template<> EIGEN_STRONG_INLINE double ei_pfirst<__m128d>(const __m128d& a) { return _mm_cvtsd_f64(a); }
 template<> EIGEN_STRONG_INLINE int    ei_pfirst<__m128i>(const __m128i& a) { return _mm_cvtsi128_si32(a); }
+#endif
 
 #ifdef __SSE3__
 // TODO implement SSE2 versions as well as integer versions

Eigen/src/Core/util/Macros.h

@@ -30,12 +30,30 @@
 
 #define EIGEN_WORLD_VERSION 2
 #define EIGEN_MAJOR_VERSION 0
-#define EIGEN_MINOR_VERSION 0
+#define EIGEN_MINOR_VERSION 2
 
 #define EIGEN_VERSION_AT_LEAST(x,y,z) (EIGEN_WORLD_VERSION>x || (EIGEN_WORLD_VERSION>=x && \
                                       (EIGEN_MAJOR_VERSION>y || (EIGEN_MAJOR_VERSION>=y && \
                                                                  EIGEN_MINOR_VERSION>=z))))
 
+// if the compiler is GNUC, disable 16 byte alignment on exotic archs that probably don't need it, and on which
+// it may be extra trouble to get aligned memory allocation to work (example: on ARM, overloading new[] is a PITA
+// because extra memory must be allocated for bookkeeping).
+// if the compiler is not GNUC, just cross fingers that the architecture isn't too exotic, because we don't want
+// to keep track of all the different preprocessor symbols for all compilers.
+#if !defined(__GNUC__) || defined(__i386__) || defined(__x86_64__) || defined(__ppc__) || defined(__ia64__)
+  #define EIGEN_ARCH_WANTS_ALIGNMENT 1
+#else
+  #ifdef EIGEN_VECTORIZE
+    #error Vectorization enabled, but the architecture is not listed among those for which we require 16 byte alignment. If you added vectorization for another architecture, you also need to edit this list.
+  #endif
+  #define EIGEN_ARCH_WANTS_ALIGNMENT 0
+  #ifndef EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT
+    #define EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT
+  #endif
+#endif
+
+
 #ifdef EIGEN_DEFAULT_TO_ROW_MAJOR
 #define EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION RowMajor
 #else
@@ -147,12 +165,14 @@ using Eigen::ei_cos;
  * If we made alignment depend on whether or not EIGEN_VECTORIZE is defined, it would be impossible to link
  * vectorized and non-vectorized code.
  */
-#if (defined __GNUC__)
+#if !EIGEN_ARCH_WANTS_ALIGNMENT
+#define EIGEN_ALIGN_128
+#elif (defined __GNUC__)
 #define EIGEN_ALIGN_128 __attribute__((aligned(16)))
 #elif (defined _MSC_VER)
 #define EIGEN_ALIGN_128 __declspec(align(16))
 #else
-#define EIGEN_ALIGN_128
+#error Please tell me what is the equivalent of __attribute__((aligned(16))) for your compiler
 #endif
 
 #define EIGEN_RESTRICT __restrict
@@ -173,18 +193,18 @@ using Eigen::ei_cos;
 template<typename OtherDerived> \
 EIGEN_STRONG_INLINE Derived& operator Op(const Eigen::MatrixBase<OtherDerived>& other) \
 { \
-  return Eigen::MatrixBase<Derived>::operator Op(other.derived()); \
+  return Base::operator Op(other.derived()); \
 } \
 EIGEN_STRONG_INLINE Derived& operator Op(const Derived& other) \
 { \
-  return Eigen::MatrixBase<Derived>::operator Op(other); \
+  return Base::operator Op(other); \
 }
 
 #define EIGEN_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Derived, Op) \
 template<typename Other> \
 EIGEN_STRONG_INLINE Derived& operator Op(const Other& scalar) \
 { \
-  return Eigen::MatrixBase<Derived>::operator Op(scalar); \
+  return Base::operator Op(scalar); \
 }
 
 #define EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Derived) \
@@ -216,4 +236,15 @@ _EIGEN_GENERIC_PUBLIC_INTERFACE(Derived, Eigen::MatrixBase<Derived>)
 #define EIGEN_ENUM_MIN(a,b) (((int)a <= (int)b) ? (int)a : (int)b)
 #define EIGEN_ENUM_MAX(a,b) (((int)a >= (int)b) ? (int)a : (int)b)
 
+// just an empty macro !
+#define EIGEN_EMPTY
+
+// concatenate two tokens
+#define EIGEN_CAT2(a,b) a ## b
+#define EIGEN_CAT(a,b) EIGEN_CAT2(a,b)
+
+// convert a token to a string
+#define EIGEN_MAKESTRING2(a) #a
+#define EIGEN_MAKESTRING(a) EIGEN_MAKESTRING2(a)
+
 #endif // EIGEN_MACROS_H

Eigen/src/Core/util/Memory.h

@@ -33,7 +33,7 @@
   #define EIGEN_MALLOC_ALREADY_ALIGNED 0
 #endif
 
-#if (defined _GNU_SOURCE) || ((defined _XOPEN_SOURCE) && (_XOPEN_SOURCE >= 600))
+#if ((defined _GNU_SOURCE) || ((defined _XOPEN_SOURCE) && (_XOPEN_SOURCE >= 600))) && (defined _POSIX_ADVISORY_INFO) && (_POSIX_ADVISORY_INFO > 0)
   #define EIGEN_HAS_POSIX_MEMALIGN 1
 #else
   #define EIGEN_HAS_POSIX_MEMALIGN 0
@@ -74,13 +74,15 @@ inline void* ei_aligned_malloc(size_t size)
   #endif
 
   void *result;
-  #if EIGEN_HAS_POSIX_MEMALIGN && !EIGEN_MALLOC_ALREADY_ALIGNED
+  #if EIGEN_HAS_POSIX_MEMALIGN && EIGEN_ARCH_WANTS_ALIGNMENT && !EIGEN_MALLOC_ALREADY_ALIGNED
     #ifdef EIGEN_EXCEPTIONS
       const int failed =
     #endif
     posix_memalign(&result, 16, size);
   #else
-    #if EIGEN_MALLOC_ALREADY_ALIGNED
+    #if !EIGEN_ARCH_WANTS_ALIGNMENT
+      result = malloc(size);
+    #elif EIGEN_MALLOC_ALREADY_ALIGNED
       result = malloc(size);
     #elif EIGEN_HAS_MM_MALLOC
       result = _mm_malloc(size, 16);
@@ -141,7 +143,9 @@ template<typename T, bool Align> inline T* ei_conditional_aligned_new(size_t siz
   */
 inline void ei_aligned_free(void *ptr)
 {
-  #if EIGEN_MALLOC_ALREADY_ALIGNED
+  #if !EIGEN_ARCH_WANTS_ALIGNMENT
+    free(ptr);
+  #elif EIGEN_MALLOC_ALREADY_ALIGNED
     free(ptr);
   #elif EIGEN_HAS_POSIX_MEMALIGN
     free(ptr);
@@ -232,60 +236,28 @@ inline static int ei_alignmentOffset(const Scalar* ptr, int maxOffset)
 #define ei_aligned_stack_delete(TYPE,PTR,SIZE) do {ei_delete_elements_of_array<TYPE>(PTR, SIZE); \
                                                    ei_aligned_stack_free(PTR,sizeof(TYPE)*SIZE);} while(0)
 
-    
-/** \brief Overloads the operator new and delete of the class Type with operators that are aligned if NeedsToAlign is true
-  *
-  * When Eigen's explicit vectorization is enabled, Eigen assumes that some fixed sizes types are aligned
-  * on a 16 bytes boundary. Those include all Matrix types having a sizeof multiple of 16 bytes, e.g.:
-  *  - Vector2d, Vector4f, Vector4i, Vector4d,
-  *  - Matrix2d, Matrix4f, Matrix4i, Matrix4d,
-  *  - etc.
-  * When an object is statically allocated, the compiler will automatically and always enforces 16 bytes
-  * alignment of the data when needed. However some troubles might appear when data are dynamically allocated.
-  * Let's pick an example:
-  * \code
-  * struct Foo {
-  *   char dummy;
-  *   Vector4f some_vector;
-  * };
-  * Foo obj1;                           // static allocation
-  * obj1.some_vector = Vector4f(..);    // =>   OK
-  *
-  * Foo *pObj2 = new Foo;               // dynamic allocation
-  * pObj2->some_vector = Vector4f(..);  // =>  !! might segfault !!
-  * \endcode
-  * Here, the problem is that operator new is not aware of the compile time alignment requirement of the
-  * type Vector4f (and hence of the type Foo). Therefore "new Foo" does not necessarily returns a 16 bytes
-  * aligned pointer. The purpose of the class WithAlignedOperatorNew is exactly to overcome this issue by
-  * overloading the operator new to return aligned data when the vectorization is enabled.
-  * Here is a similar safe example:
-  * \code
-  * struct Foo {
-  *   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-  *   char dummy;
-  *   Vector4f some_vector;
-  * };
-  * Foo *pObj2 = new Foo;               // dynamic allocation
-  * pObj2->some_vector = Vector4f(..);  // =>  SAFE !
-  * \endcode
-  *
-  * \sa class ei_new_allocator
-  */
-#define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign) \
-    void *operator new(size_t size) throw() { \
-      return Eigen::ei_conditional_aligned_malloc<NeedsToAlign>(size); \
-    } \
-    void *operator new[](size_t size) throw() { \
-      return Eigen::ei_conditional_aligned_malloc<NeedsToAlign>(size); \
-    } \
-    void operator delete(void * ptr) { Eigen::ei_conditional_aligned_free<NeedsToAlign>(ptr); } \
-    void operator delete[](void * ptr) { Eigen::ei_conditional_aligned_free<NeedsToAlign>(ptr); } \
-    void *operator new(size_t, void *ptr) throw() { return ptr; }
+
+#if EIGEN_ARCH_WANTS_ALIGNMENT
+  #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign) \
+      void *operator new(size_t size) throw() { \
+        return Eigen::ei_conditional_aligned_malloc<NeedsToAlign>(size); \
+      } \
+      void *operator new[](size_t size) throw() { \
+        return Eigen::ei_conditional_aligned_malloc<NeedsToAlign>(size); \
+      } \
+      void operator delete(void * ptr) { Eigen::ei_conditional_aligned_free<NeedsToAlign>(ptr); } \
+      void operator delete[](void * ptr) { Eigen::ei_conditional_aligned_free<NeedsToAlign>(ptr); } \
+      void *operator new(size_t, void *ptr) throw() { return ptr; } \
+      typedef void ei_operator_new_marker_type;
+#else
+  #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
+#endif
 
 #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(true)
 #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(Scalar,Size) \
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(((Size)!=Eigen::Dynamic) && ((sizeof(Scalar)*(Size))%16==0))
 
+
 /** \class aligned_allocator
 *
 * \brief stl compatible allocator to use with with 16 byte aligned types
@@ -317,34 +289,34 @@ public:
         typedef aligned_allocator<U> other;
     };
 
-    pointer address( reference value ) const 
+    pointer address( reference value ) const
     {
         return &value;
     }
 
-    const_pointer address( const_reference value ) const 
+    const_pointer address( const_reference value ) const
     {
         return &value;
     }
 
-    aligned_allocator() throw() 
+    aligned_allocator() throw()
     {
     }
 
-    aligned_allocator( const aligned_allocator& ) throw() 
+    aligned_allocator( const aligned_allocator& ) throw()
     {
     }
 
     template<class U>
-    aligned_allocator( const aligned_allocator<U>& ) throw() 
+    aligned_allocator( const aligned_allocator<U>& ) throw()
     {
     }
 
-    ~aligned_allocator() throw() 
+    ~aligned_allocator() throw()
     {
     }
 
-    size_type max_size() const throw() 
+    size_type max_size() const throw()
     {
         return std::numeric_limits<size_type>::max();
     }
@@ -355,20 +327,26 @@ public:
         return static_cast<pointer>( ei_aligned_malloc( num * sizeof(T) ) );
     }
 
-    void construct( pointer p, const T& value ) 
+    void construct( pointer p, const T& value )
     {
         ::new( p ) T( value );
     }
 
-    void destroy( pointer p ) 
+    void destroy( pointer p )
     {
         p->~T();
     }
 
-    void deallocate( pointer p, size_type /*num*/ ) 
+    void deallocate( pointer p, size_type /*num*/ )
     {
         ei_aligned_free( p );
     }
+    
+    bool operator!=(const aligned_allocator<T>& other) const
+    { return false; }
+    
+    bool operator==(const aligned_allocator<T>& other) const
+    { return true; }
 };
 
 #endif // EIGEN_MEMORY_H

Eigen/src/Geometry/Quaternion.h

@@ -61,12 +61,12 @@ template<typename _Scalar>
 class Quaternion : public RotationBase<Quaternion<_Scalar>,3>
 {
   typedef RotationBase<Quaternion<_Scalar>,3> Base;
-  
+
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,4)
 
   using Base::operator*;
-  
+
   /** the scalar type of the coefficients */
   typedef _Scalar Scalar;
 
@@ -112,10 +112,6 @@ public:
   /** Default constructor leaving the quaternion uninitialized. */
   inline Quaternion() {}
 
-  inline Quaternion(ei_constructor_without_unaligned_array_assert)
-    : m_coeffs(ei_constructor_without_unaligned_array_assert()) {}
-
-
   /** Constructs and initializes the quaternion \f$ w+xi+yj+zk \f$ from
     * its four coefficients \a w, \a x, \a y and \a z.
     *
@@ -217,7 +213,7 @@ public:
   bool isApprox(const Quaternion& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
   { return m_coeffs.isApprox(other.m_coeffs, prec); }
 
-protected: 
+protected:
   Coefficients m_coeffs;
 };
 

Eigen/src/Geometry/Transform.h

@@ -95,11 +95,8 @@ public:
   /** Default constructor without initialization of the coefficients. */
   inline Transform() { }
 
-  inline Transform(ei_constructor_without_unaligned_array_assert)
-    : m_matrix(ei_constructor_without_unaligned_array_assert()) {}
-
   inline Transform(const Transform& other)
-  { 
+  {
     m_matrix = other.m_matrix;
   }
 
@@ -648,7 +645,7 @@ template<typename Scalar, int Dim>
 template<typename ScalingMatrixType, typename RotationMatrixType>
 void Transform<Scalar,Dim>::computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const
 {
-  linear().svd().computeScalingRotation(scaling, rotation);  
+  linear().svd().computeScalingRotation(scaling, rotation);
 }
 
 /** Convenient method to set \c *this from a position, orientation and scale

Eigen/src/LU/Inverse.h

@@ -132,21 +132,31 @@ void ei_compute_inverse_in_size4_case(const MatrixType& matrix, MatrixType* resu
     // since this is a rare case, we don't need to optimize it. We just want to handle it with little
     // additional code.
     MatrixType m(matrix);
-    m.row(1).swap(m.row(2));
+    m.row(0).swap(m.row(2));
+    m.row(1).swap(m.row(3));
     if(ei_compute_inverse_in_size4_case_helper(m, result))
     {
-      // good, the topleft 2x2 block of m is invertible. Since m is different from matrix in that two
+      // good, the topleft 2x2 block of m is invertible. Since m is different from matrix in that some
       // rows were permuted, the actual inverse of matrix is derived from the inverse of m by permuting
       // the corresponding columns.
-      result->col(1).swap(result->col(2));
+      result->col(0).swap(result->col(2));
+      result->col(1).swap(result->col(3));
     }
     else
     {
       // last possible case. Since matrix is assumed to be invertible, this last case has to work.
-      m.row(1).swap(m.row(2));
+      // first, undo the swaps previously made
+      m.row(0).swap(m.row(2));
       m.row(1).swap(m.row(3));
+      // swap row 0 with the the row among 0 and 1 that has the biggest 2 first coeffs
+      int swap0with = ei_abs(m.coeff(0,0))+ei_abs(m.coeff(0,1))>ei_abs(m.coeff(1,0))+ei_abs(m.coeff(1,1)) ? 0 : 1;
+      m.row(0).swap(m.row(swap0with));
+      // swap row 1 with the the row among 2 and 3 that has the biggest 2 first coeffs
+      int swap1with = ei_abs(m.coeff(2,0))+ei_abs(m.coeff(2,1))>ei_abs(m.coeff(3,0))+ei_abs(m.coeff(3,1)) ? 2 : 3;
+      m.row(1).swap(m.row(swap1with));
       ei_compute_inverse_in_size4_case_helper(m, result);
-      result->col(1).swap(result->col(3));
+      result->col(1).swap(result->col(swap1with));
+      result->col(0).swap(result->col(swap0with));
     }
   }
 }

Eigen/src/LeastSquares/LeastSquares.h

@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra. Eigen itself is part of the KDE project.
 //
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2006-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
 //
 // Eigen is free software; you can redistribute it and/or
 // modify it under the terms of the GNU Lesser General Public
@@ -57,7 +57,7 @@
     Vector3d coeffs; // will store the coefficients a, b, c
     linearRegression(
       5,
-      points,
+      &points,
       &coeffs,
       1 // the coord to express as a function of
         // the other ones. 0 means x, 1 means y, 2 means z.
@@ -80,11 +80,11 @@
                   This vector must be of the same type and size as the
                   data points. The meaning of its coords is as follows.
                   For brevity, let \f$n=Size\f$,
-                  \f$r_i=retCoefficients[i]\f$,
+                  \f$r_i=result[i]\f$,
                   and \f$f=funcOfOthers\f$. Denote by
                   \f$x_0,\ldots,x_{n-1}\f$
                   the n coordinates in the n-dimensional space.
-                  Then the result equation is:
+                  Then the resulting equation is:
                   \f[ x_f = r_0 x_0 + \cdots + r_{f-1}x_{f-1}
                    + r_{f+1}x_{f+1} + \cdots + r_{n-1}x_{n-1} + r_n. \f]
   * @param funcOfOthers Determines which coord to express as a function of the
@@ -101,31 +101,15 @@ void linearRegression(int numPoints,
                       int funcOfOthers )
 {
   typedef typename VectorType::Scalar Scalar;
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(VectorType)
-  ei_assert(numPoints >= 1);
-  int size = points[0]->size();
-  ei_assert(funcOfOthers >= 0 && funcOfOthers < size);
+  typedef Hyperplane<Scalar, VectorType::SizeAtCompileTime> HyperplaneType;
+  const int size = points[0]->size();
   result->resize(size);
-
-  Matrix<Scalar, Dynamic, VectorType::SizeAtCompileTime,
-         Dynamic, VectorType::MaxSizeAtCompileTime, RowMajorBit>
-    m(numPoints, size);
-  if(funcOfOthers>0)
-    for(int i = 0; i < numPoints; ++i)
-      m.row(i).start(funcOfOthers) = points[i]->start(funcOfOthers);
-  if(funcOfOthers<size-1)
-    for(int i = 0; i < numPoints; ++i)
-      m.row(i).block(funcOfOthers, size-funcOfOthers-1)
-        = points[i]->end(size-funcOfOthers-1);
-  for(int i = 0; i < numPoints; ++i)
-    m.row(i).coeffRef(size-1) = Scalar(1);
-
-  VectorType v(size);
-  v.setZero();
-  for(int i = 0; i < numPoints; ++i)
-    v += m.row(i).adjoint() * points[i]->coeff(funcOfOthers);
-
-  ei_assert((m.adjoint()*m).lu().solve(v, result));
+  HyperplaneType h(size);
+  fitHyperplane(numPoints, points, &h);
+  for(int i = 0; i < funcOfOthers; i++)
+    result->coeffRef(i) = - h.coeffs()[i] / h.coeffs()[funcOfOthers];
+  for(int i = funcOfOthers; i < size; i++)
+    result->coeffRef(i) = - h.coeffs()[i+1] / h.coeffs()[funcOfOthers];
 }
 
 /** \ingroup LeastSquares_Module

Eigen/src/StdVector/CMakeLists.txt

@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_StdVector_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_StdVector_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/StdVector
-  )

Eigen/src/StdVector/StdVector.h

@@ -1,73 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2009 Alex Stapleton <alex.stapleton@gmail.com>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_STDVECTOR_H
-#define EIGEN_STDVECTOR_H
-
-#define EIGEN_STD_VECTOR_SPECIALIZATION_BODY \
-  typedef Eigen::aligned_allocator<value_type> allocator_type; \
-  typedef vector<value_type, allocator_type > unaligned_base; \
-  typedef typename unaligned_base::size_type size_type; \
-  typedef typename unaligned_base::iterator iterator; \
-  explicit vector(const allocator_type& __a = allocator_type()) : unaligned_base(__a) {} \
-  vector(const vector& c) : unaligned_base(c) {} \
-  vector(size_type num, const value_type& val = value_type()) : unaligned_base(num, val) {}\
-  vector(iterator start, iterator end) : unaligned_base(start, end) {} \
-  vector& operator=(const vector& __x) { \
-    unaligned_base::operator=(__x); \
-    return *this; \
-  }
-
-template <typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols, typename _Alloc>
-class vector<Eigen::Matrix<_Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols>, _Alloc>
-  : public vector<Eigen::ei_unaligned_type<Eigen::Matrix<_Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols> >,
-                  Eigen::aligned_allocator<Eigen::ei_unaligned_type<Eigen::Matrix<_Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols> > > >
-{
-public:
-  typedef Eigen::ei_unaligned_type<Eigen::Matrix<_Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols> > value_type;
-  EIGEN_STD_VECTOR_SPECIALIZATION_BODY
-};
-
-template <typename _Scalar, int _Dim, typename _Alloc>
-class vector<Eigen::Transform<_Scalar,_Dim>, _Alloc>
-  : public vector<Eigen::ei_unaligned_type<Eigen::Transform<_Scalar,_Dim> >,
-                  Eigen::aligned_allocator<Eigen::ei_unaligned_type<Eigen::Transform<_Scalar,_Dim> > > >
-{
-public:
-  typedef Eigen::ei_unaligned_type<Eigen::Transform<_Scalar,_Dim> > value_type;
-  EIGEN_STD_VECTOR_SPECIALIZATION_BODY
-};
-
-template <typename _Scalar, typename _Alloc>
-class vector<Eigen::Quaternion<_Scalar>, _Alloc>
-  : public vector<Eigen::ei_unaligned_type<Eigen::Quaternion<_Scalar> >,
-                  Eigen::aligned_allocator<Eigen::ei_unaligned_type<Eigen::Quaternion<_Scalar> > > >
-{
-public:
-  typedef Eigen::ei_unaligned_type<Eigen::Quaternion<_Scalar> > value_type;
-  EIGEN_STD_VECTOR_SPECIALIZATION_BODY
-};
-
-#endif // EIGEN_STDVECTOR_H

Eigen/src/StdVector/UnalignedType.h

@@ -1,105 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
-//
-// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2009 Alex Stapleton <alex.stapleton@gmail.com>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_UNALIGNEDTYPE_H
-#define EIGEN_UNALIGNEDTYPE_H
-
-template<typename aligned_type> class ei_unaligned_type;
-
-template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-class ei_unaligned_type<Matrix<_Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols> >
-  : public Matrix<_Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols>
-{
-  private:
-    template<typename Other> void _unaligned_copy(const Other& other)
-    {
-      if(other.size() == 0) return;
-      resize(other.rows(), other.cols());
-      ei_assign_impl<ei_unaligned_type,aligned_base,NoVectorization>::run(*this, other);
-    }
-
-  public:
-    typedef Matrix<_Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols> aligned_base;
-    ei_unaligned_type() : aligned_base(ei_constructor_without_unaligned_array_assert()) {}
-    ei_unaligned_type(const aligned_base& other) : aligned_base(ei_constructor_without_unaligned_array_assert())
-    {
-      _unaligned_copy(other);
-    }
-    ei_unaligned_type(const ei_unaligned_type& other) : aligned_base(ei_constructor_without_unaligned_array_assert())
-    {
-      _unaligned_copy(other);
-    }
-};
-
-template<typename _Scalar, int _Dim>
-class ei_unaligned_type<Transform<_Scalar,_Dim> >
-  : public Transform<_Scalar,_Dim>
-{
-  private:
-    template<typename Other> void _unaligned_copy(const Other& other)
-    {
-      // no resizing here, it's fixed-size anyway
-      ei_assign_impl<MatrixType,MatrixType,NoVectorization>::run(this->matrix(), other.matrix());
-    }
-  public:
-    typedef Transform<_Scalar,_Dim> aligned_base;
-    typedef typename aligned_base::MatrixType MatrixType;
-    ei_unaligned_type() : aligned_base(ei_constructor_without_unaligned_array_assert()) {}
-    ei_unaligned_type(const aligned_base& other) : aligned_base(ei_constructor_without_unaligned_array_assert())
-    {
-      _unaligned_copy(other);
-    }
-    ei_unaligned_type(const ei_unaligned_type& other) : aligned_base(ei_constructor_without_unaligned_array_assert())
-    {
-      _unaligned_copy(other);
-    }
-};
-
-template<typename _Scalar>
-class ei_unaligned_type<Quaternion<_Scalar> >
-  : public Quaternion<_Scalar>
-{
-  private:
-    template<typename Other> void _unaligned_copy(const Other& other)
-    {
-      // no resizing here, it's fixed-size anyway
-      ei_assign_impl<Coefficients,Coefficients,NoVectorization>::run(this->coeffs(), other.coeffs());
-    }
-  public:
-    typedef Quaternion<_Scalar> aligned_base;
-    typedef typename aligned_base::Coefficients Coefficients;
-    ei_unaligned_type() : aligned_base(ei_constructor_without_unaligned_array_assert()) {}
-    ei_unaligned_type(const aligned_base& other) : aligned_base(ei_constructor_without_unaligned_array_assert())
-    {
-      _unaligned_copy(other);
-    }
-    ei_unaligned_type(const ei_unaligned_type& other) : aligned_base(ei_constructor_without_unaligned_array_assert())
-    {
-      _unaligned_copy(other);
-    }
-};
-
-
-#endif // EIGEN_UNALIGNEDTYPE_H

test/cwiseop.cpp

@@ -54,7 +54,9 @@ template<typename MatrixType> void cwiseops(const MatrixType& m)
              square = Matrix<Scalar, MatrixType::RowsAtCompileTime, MatrixType::RowsAtCompileTime>::Random(rows, rows);
   VectorType v1 = VectorType::Random(rows),
              v2 = VectorType::Random(rows),
-             vzero = VectorType::Zero(rows);
+             vzero = VectorType::Zero(rows),
+             vones = VectorType::Ones(rows),
+             v3(rows);
 
   int r = ei_random<int>(0, rows-1),
       c = ei_random<int>(0, cols-1);
@@ -70,12 +72,22 @@ template<typename MatrixType> void cwiseops(const MatrixType& m)
       VERIFY_IS_APPROX(mones(i,j), Scalar(1));
       VERIFY_IS_APPROX(m3(i,j), s1);
     }
+  VERIFY(mzero.isZero());
+  VERIFY(mones.isOnes());
+  VERIFY(m3.isConstant(s1));
+  VERIFY(identity.isIdentity());
   VERIFY_IS_APPROX(m4.setConstant(s1), m3);
+  VERIFY_IS_APPROX(m4.setConstant(rows,cols,s1), m3);
   VERIFY_IS_APPROX(m4.setZero(), mzero);
+  VERIFY_IS_APPROX(m4.setZero(rows,cols), mzero);
   VERIFY_IS_APPROX(m4.setOnes(), mones);
+  VERIFY_IS_APPROX(m4.setOnes(rows,cols), mones);
   m4.fill(s1);
   VERIFY_IS_APPROX(m4, m3);
   
+  VERIFY_IS_APPROX(v3.setConstant(rows, s1), VectorType::Constant(rows,s1));
+  VERIFY_IS_APPROX(v3.setZero(rows), vzero);
+  VERIFY_IS_APPROX(v3.setOnes(rows), vones);
 
   m2 = m2.template binaryExpr<AddIfNull<Scalar> >(mones);
 

test/dynalloc.cpp

@@ -24,12 +24,18 @@
 
 #include "main.h"
 
+#if EIGEN_ARCH_WANTS_ALIGNMENT
+#define ALIGNMENT 16
+#else
+#define ALIGNMENT 1
+#endif
+
 void check_handmade_aligned_malloc()
 {
   for(int i = 1; i < 1000; i++)
   {
     char *p = (char*)ei_handmade_aligned_malloc(i);
-    VERIFY(size_t(p)%16==0);
+    VERIFY(size_t(p)%ALIGNMENT==0);
     // if the buffer is wrongly allocated this will give a bad write --> check with valgrind
     for(int j = 0; j < i; j++) p[j]=0;
     ei_handmade_aligned_free(p);
@@ -41,7 +47,7 @@ void check_aligned_malloc()
   for(int i = 1; i < 1000; i++)
   {
     char *p = (char*)ei_aligned_malloc(i);
-    VERIFY(size_t(p)%16==0);
+    VERIFY(size_t(p)%ALIGNMENT==0);
     // if the buffer is wrongly allocated this will give a bad write --> check with valgrind
     for(int j = 0; j < i; j++) p[j]=0;
     ei_aligned_free(p);
@@ -53,7 +59,7 @@ void check_aligned_new()
   for(int i = 1; i < 1000; i++)
   {
     float *p = ei_aligned_new<float>(i);
-    VERIFY(size_t(p)%16==0);
+    VERIFY(size_t(p)%ALIGNMENT==0);
     // if the buffer is wrongly allocated this will give a bad write --> check with valgrind
     for(int j = 0; j < i; j++) p[j]=0;
     ei_aligned_delete(p,i);
@@ -65,7 +71,7 @@ void check_aligned_stack_alloc()
   for(int i = 1; i < 1000; i++)
   {
     float *p = ei_aligned_stack_new(float,i);
-    VERIFY(size_t(p)%16==0);
+    VERIFY(size_t(p)%ALIGNMENT==0);
     // if the buffer is wrongly allocated this will give a bad write --> check with valgrind
     for(int j = 0; j < i; j++) p[j]=0;
     ei_aligned_stack_delete(float,p,i);
@@ -92,7 +98,7 @@ class MyClassA
 template<typename T> void check_dynaligned()
 {
   T* obj = new T;
-  VERIFY(size_t(obj)%16==0);
+  VERIFY(size_t(obj)%ALIGNMENT==0);
   delete obj;
 }
 
@@ -115,15 +121,15 @@ void test_dynalloc()
   
   // check static allocation, who knows ?
   {
-    MyStruct foo0;  VERIFY(size_t(foo0.avec.data())%16==0);
-    MyClassA fooA;  VERIFY(size_t(fooA.avec.data())%16==0);
+    MyStruct foo0;  VERIFY(size_t(foo0.avec.data())%ALIGNMENT==0);
+    MyClassA fooA;  VERIFY(size_t(fooA.avec.data())%ALIGNMENT==0);
   }
 
   // dynamic allocation, single object
   for (int i=0; i<g_repeat*100; ++i)
   {
-    MyStruct *foo0 = new MyStruct();  VERIFY(size_t(foo0->avec.data())%16==0);
-    MyClassA *fooA = new MyClassA();  VERIFY(size_t(fooA->avec.data())%16==0);
+    MyStruct *foo0 = new MyStruct();  VERIFY(size_t(foo0->avec.data())%ALIGNMENT==0);
+    MyClassA *fooA = new MyClassA();  VERIFY(size_t(fooA->avec.data())%ALIGNMENT==0);
     delete foo0;
     delete fooA;
   }
@@ -132,8 +138,8 @@ void test_dynalloc()
   const int N = 10;
   for (int i=0; i<g_repeat*100; ++i)
   {
-    MyStruct *foo0 = new MyStruct[N];  VERIFY(size_t(foo0->avec.data())%16==0);
-    MyClassA *fooA = new MyClassA[N];  VERIFY(size_t(fooA->avec.data())%16==0);
+    MyStruct *foo0 = new MyStruct[N];  VERIFY(size_t(foo0->avec.data())%ALIGNMENT==0);
+    MyClassA *fooA = new MyClassA[N];  VERIFY(size_t(fooA->avec.data())%ALIGNMENT==0);
     delete[] foo0;
     delete[] fooA;
   }

test/regression.cpp

@@ -62,6 +62,20 @@ void makeNoisyCohyperplanarPoints(int numPoints,
     *(points[i]) += noiseAmplitude * VectorType::Random(size);
 }
 
+template<typename VectorType>
+void check_linearRegression(int numPoints,
+                            VectorType **points,
+                            const VectorType& original,
+                            typename VectorType::Scalar tolerance)
+{
+  int size = points[0]->size();
+  assert(size==2);
+  VectorType result(size);
+  linearRegression(numPoints, points, &result, 1);
+  typename VectorType::Scalar error = (result - original).norm() / original.norm();
+  VERIFY(ei_abs(error) < ei_abs(tolerance));
+}
+
 template<typename VectorType,
          typename HyperplaneType>
 void check_fitHyperplane(int numPoints,
@@ -81,6 +95,20 @@ void test_regression()
 {
   for(int i = 0; i < g_repeat; i++)
   {
+    {
+      Vector2f points2f [1000];
+      Vector2f *points2f_ptrs [1000];
+      for(int i = 0; i < 1000; i++) points2f_ptrs[i] = &(points2f[i]);
+      Vector2f coeffs2f;
+      Hyperplane<float,2> coeffs3f;
+      makeNoisyCohyperplanarPoints(1000, points2f_ptrs, &coeffs3f, 0.01f);
+      coeffs2f[0] = -coeffs3f.coeffs()[0]/coeffs3f.coeffs()[1];
+      coeffs2f[1] = -coeffs3f.coeffs()[2]/coeffs3f.coeffs()[1];
+      CALL_SUBTEST(check_linearRegression(10, points2f_ptrs, coeffs2f, 0.05f));
+      CALL_SUBTEST(check_linearRegression(100, points2f_ptrs, coeffs2f, 0.01f));
+      CALL_SUBTEST(check_linearRegression(1000, points2f_ptrs, coeffs2f, 0.002f));
+    }
+    
     {
       Vector2f points2f [1000];
       Vector2f *points2f_ptrs [1000];

test/stdvector.cpp

@@ -22,8 +22,8 @@
 // License and a copy of the GNU General Public License along with
 // Eigen. If not, see <http://www.gnu.org/licenses/>.
 
-#include "main.h"
 #include <Eigen/StdVector>
+#include "main.h"
 #include <Eigen/Geometry>
 
 template<typename MatrixType>

test/triangular.cpp

@@ -114,6 +114,14 @@ template<typename MatrixType> void triangular(const MatrixType& m)
 
   VERIFY((m1.template part<Eigen::UpperTriangular>() * m2.template part<Eigen::UpperTriangular>()).isUpperTriangular());
 
+  // test swap
+  m1.setOnes();
+  m2.setZero();
+  m2.template part<Eigen::UpperTriangular>().swap(m1);
+  m3.setZero();
+  m3.template part<Eigen::UpperTriangular>().setOnes();
+  VERIFY_IS_APPROX(m2,m3);
+
 }
 
 void test_triangular()

test/unalignedassert.cpp

@@ -92,6 +92,7 @@ void check_unalignedassert_good()
   delete[] y;
 }
 
+#if EIGEN_ARCH_WANTS_ALIGNMENT
 template<typename T>
 void check_unalignedassert_bad()
 {
@@ -101,20 +102,27 @@ void check_unalignedassert_bad()
   T *x = ::new(static_cast<void*>(unaligned)) T;
   x->~T();
 }
+#endif
 
 void unalignedassert()
 {
   check_unalignedassert_good<Good1>();
   check_unalignedassert_good<Good2>();
   check_unalignedassert_good<Good3>();
+#if EIGEN_ARCH_WANTS_ALIGNMENT
   VERIFY_RAISES_ASSERT(check_unalignedassert_bad<Bad4>());
   VERIFY_RAISES_ASSERT(check_unalignedassert_bad<Bad5>());
   VERIFY_RAISES_ASSERT(check_unalignedassert_bad<Bad6>());
+#endif
+
   check_unalignedassert_good<Good7>();
   check_unalignedassert_good<Good8>();
   check_unalignedassert_good<Good9>();
   check_unalignedassert_good<Depends<true> >();
+
+#if EIGEN_ARCH_WANTS_ALIGNMENT
   VERIFY_RAISES_ASSERT(check_unalignedassert_bad<Depends<false> >());
+#endif
 }
 
 void test_unalignedassert()