diff --git a/LICENSE b/LICENSE
index 7317867ff..81c000246 100644
--- a/LICENSE
+++ b/LICENSE
@@ -2,6 +2,8 @@ Copyright (c) 2010, Georgia Tech Research Corporation
 Atlanta, Georgia 30332-0415
 All Rights Reserved
 
+See also README for licensing of 3rd-party code included in GTSAM.
+
 Redistribution and use in source and binary forms, with or without modification, 
 are permitted provided that the following conditions are met:
 
diff --git a/README b/README
index d7486c8b8..d60faea45 100644
--- a/README
+++ b/README
@@ -33,12 +33,13 @@ The library is organized according to the following directory structure:
   slam          SLAM and visual SLAM application code
 
 This library contains unchanged copies of two third party libraries, with documentation 
-of licensing in LICENSE and as follows: 
+of licensing as follows: 
   - CCOLAMD 2.73: Tim Davis' constrained column approximate minimum degree ordering library
     - http://www.cise.ufl.edu/research/sparse
     - Licenced under LGPL v2.1, provided in gtsam/3rdparty/CCOLAMD/Doc/lesser.txt
   - Eigen 3.1:  General C++ matrix and linear algebra library
-    - Licenced under LGPL v3, provided in gtsam/3rdparty/Eigen/COPYING.LGPL
+    - Licenced under MPL2, provided in gtsam/3rdparty/Eigen/COPYING.README (some code that is 3rd-party to
+	  Eigen is BSD and LGPL)
 
 
 There are two supporting libraries:
diff --git a/gtsam/3rdparty/Eigen/COPYING.LGPL b/gtsam/3rdparty/Eigen/COPYING.LGPL
index 0e4fa8aaf..4362b4915 100644
--- a/gtsam/3rdparty/Eigen/COPYING.LGPL
+++ b/gtsam/3rdparty/Eigen/COPYING.LGPL
@@ -1,165 +1,502 @@
                   GNU LESSER GENERAL PUBLIC LICENSE
-                       Version 3, 29 June 2007
+                       Version 2.1, February 1999
 
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+conditions either of that version or of any later version published by
+the Free Software Foundation.  If the Library does not specify a
+license version number, you may choose any version ever published by
+the Free Software Foundation.
+
+  14. If you wish to incorporate parts of the Library into other free
+programs whose distribution conditions are incompatible with these,
+write to the author to ask for permission.  For software which is
+copyrighted by the Free Software Foundation, write to the Free
+Software Foundation; we sometimes make exceptions for this.  Our
+decision will be guided by the two goals of preserving the free status
+of all derivatives of our free software and of promoting the sharing
+and reuse of software generally.
+
+                            NO WARRANTY
+
+  15. BECAUSE THE LIBRARY IS LICENSED FREE OF CHARGE, THERE IS NO
+WARRANTY FOR THE LIBRARY, TO THE EXTENT PERMITTED BY APPLICABLE LAW.
+EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR
+OTHER PARTIES PROVIDE THE LIBRARY "AS IS" WITHOUT WARRANTY OF ANY
+KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE.  THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE
+LIBRARY IS WITH YOU.  SHOULD THE LIBRARY PROVE DEFECTIVE, YOU ASSUME
+THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+  16. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN
+WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY
+AND/OR REDISTRIBUTE THE LIBRARY AS PERMITTED ABOVE, BE LIABLE TO YOU
+FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR
+CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE
+LIBRARY (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING
+RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A
+FAILURE OF THE LIBRARY TO OPERATE WITH ANY OTHER SOFTWARE), EVEN IF
+SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH
+DAMAGES.
+
+                     END OF TERMS AND CONDITIONS
+
+           How to Apply These Terms to Your New Libraries
+
+  If you develop a new library, and you want it to be of the greatest
+possible use to the public, we recommend making it free software that
+everyone can redistribute and change.  You can do so by permitting
+redistribution under these terms (or, alternatively, under the terms of the
+ordinary General Public License).
+
+  To apply these terms, attach the following notices to the library.  It is
+safest to attach them to the start of each source file to most effectively
+convey the exclusion of warranty; and each file should have at least the
+"copyright" line and a pointer to where the full notice is found.
+
+    <one line to give the library's name and a brief idea of what it does.>
+    Copyright (C) <year>  <name of author>
+
+    This library 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 2.1 of the License, or (at your option) any later version.
+
+    This library 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 for more details.
+
+    You should have received a copy of the GNU Lesser General Public
+    License along with this library; if not, write to the Free Software
+    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+
+Also add information on how to contact you by electronic and paper mail.
+
+You should also get your employer (if you work as a programmer) or your
+school, if any, to sign a "copyright disclaimer" for the library, if
+necessary.  Here is a sample; alter the names:
+
+  Yoyodyne, Inc., hereby disclaims all copyright interest in the
+  library `Frob' (a library for tweaking knobs) written by James Random Hacker.
+
+  <signature of Ty Coon>, 1 April 1990
+  Ty Coon, President of Vice
+
+That's all there is to it!
diff --git a/gtsam/3rdparty/Eigen/COPYING.MINPACK b/gtsam/3rdparty/Eigen/COPYING.MINPACK
new file mode 100644
index 000000000..ae7984dae
--- /dev/null
+++ b/gtsam/3rdparty/Eigen/COPYING.MINPACK
@@ -0,0 +1,52 @@
+Minpack Copyright Notice (1999) University of Chicago.  All rights reserved
+
+Redistribution and use in source and binary forms, with or
+without modification, are permitted provided that the
+following conditions are met:
+
+1. Redistributions of source code must retain the above
+copyright notice, this list of conditions and the following
+disclaimer.
+
+2. Redistributions in binary form must reproduce the above
+copyright notice, this list of conditions and the following
+disclaimer in the documentation and/or other materials
+provided with the distribution.
+
+3. The end-user documentation included with the
+redistribution, if any, must include the following
+acknowledgment:
+
+   "This product includes software developed by the
+   University of Chicago, as Operator of Argonne National
+   Laboratory.
+
+Alternately, this acknowledgment may appear in the software
+itself, if and wherever such third-party acknowledgments
+normally appear.
+
+4. WARRANTY DISCLAIMER. THE SOFTWARE IS SUPPLIED "AS IS"
+WITHOUT WARRANTY OF ANY KIND. THE COPYRIGHT HOLDER, THE
+UNITED STATES, THE UNITED STATES DEPARTMENT OF ENERGY, AND
+THEIR EMPLOYEES: (1) DISCLAIM ANY WARRANTIES, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES
+OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE
+OR NON-INFRINGEMENT, (2) DO NOT ASSUME ANY LEGAL LIABILITY
+OR RESPONSIBILITY FOR THE ACCURACY, COMPLETENESS, OR
+USEFULNESS OF THE SOFTWARE, (3) DO NOT REPRESENT THAT USE OF
+THE SOFTWARE WOULD NOT INFRINGE PRIVATELY OWNED RIGHTS, (4)
+DO NOT WARRANT THAT THE SOFTWARE WILL FUNCTION
+UNINTERRUPTED, THAT IT IS ERROR-FREE OR THAT ANY ERRORS WILL
+BE CORRECTED.
+
+5. LIMITATION OF LIABILITY. IN NO EVENT WILL THE COPYRIGHT
+HOLDER, THE UNITED STATES, THE UNITED STATES DEPARTMENT OF
+ENERGY, OR THEIR EMPLOYEES: BE LIABLE FOR ANY INDIRECT,
+INCIDENTAL, CONSEQUENTIAL, SPECIAL OR PUNITIVE DAMAGES OF
+ANY KIND OR NATURE, INCLUDING BUT NOT LIMITED TO LOSS OF
+PROFITS OR LOSS OF DATA, FOR ANY REASON WHATSOEVER, WHETHER
+SUCH LIABILITY IS ASSERTED ON THE BASIS OF CONTRACT, TORT
+(INCLUDING NEGLIGENCE OR STRICT LIABILITY), OR OTHERWISE,
+EVEN IF ANY OF SAID PARTIES HAS BEEN WARNED OF THE
+POSSIBILITY OF SUCH LOSS OR DAMAGES.
+
diff --git a/gtsam/3rdparty/Eigen/COPYING.MPL2 b/gtsam/3rdparty/Eigen/COPYING.MPL2
new file mode 100644
index 000000000..14e2f777f
--- /dev/null
+++ b/gtsam/3rdparty/Eigen/COPYING.MPL2
@@ -0,0 +1,373 @@
+Mozilla Public License Version 2.0
+==================================
+
+1. Definitions
+--------------
+
+1.1. "Contributor"
+    means each individual or legal entity that creates, contributes to
+    the creation of, or owns Covered Software.
+
+1.2. "Contributor Version"
+    means the combination of the Contributions of others (if any) used
+    by a Contributor and that particular Contributor's Contribution.
+
+1.3. "Contribution"
+    means Covered Software of a particular Contributor.
+
+1.4. "Covered Software"
+    means Source Code Form to which the initial Contributor has attached
+    the notice in Exhibit A, the Executable Form of such Source Code
+    Form, and Modifications of such Source Code Form, in each case
+    including portions thereof.
+
+1.5. "Incompatible With Secondary Licenses"
+    means
+
+    (a) that the initial Contributor has attached the notice described
+        in Exhibit B to the Covered Software; or
+
+    (b) that the Covered Software was made available under the terms of
+        version 1.1 or earlier of the License, but not also under the
+        terms of a Secondary License.
+
+1.6. "Executable Form"
+    means any form of the work other than Source Code Form.
+
+1.7. "Larger Work"
+    means a work that combines Covered Software with other material, in 
+    a separate file or files, that is not Covered Software.
+
+1.8. "License"
+    means this document.
+
+1.9. "Licensable"
+    means having the right to grant, to the maximum extent possible,
+    whether at the time of the initial grant or subsequently, any and
+    all of the rights conveyed by this License.
+
+1.10. "Modifications"
+    means any of the following:
+
+    (a) any file in Source Code Form that results from an addition to,
+        deletion from, or modification of the contents of Covered
+        Software; or
+
+    (b) any new file in Source Code Form that contains any Covered
+        Software.
+
+1.11. "Patent Claims" of a Contributor
+    means any patent claim(s), including without limitation, method,
+    process, and apparatus claims, in any patent Licensable by such
+    Contributor that would be infringed, but for the grant of the
+    License, by the making, using, selling, offering for sale, having
+    made, import, or transfer of either its Contributions or its
+    Contributor Version.
+
+1.12. "Secondary License"
+    means either the GNU General Public License, Version 2.0, the GNU
+    Lesser General Public License, Version 2.1, the GNU Affero General
+    Public License, Version 3.0, or any later versions of those
+    licenses.
+
+1.13. "Source Code Form"
+    means the form of the work preferred for making modifications.
+
+1.14. "You" (or "Your")
+    means an individual or a legal entity exercising rights under this
+    License. For legal entities, "You" includes any entity that
+    controls, is controlled by, or is under common control with You. For
+    purposes of this definition, "control" means (a) the power, direct
+    or indirect, to cause the direction or management of such entity,
+    whether by contract or otherwise, or (b) ownership of more than
+    fifty percent (50%) of the outstanding shares or beneficial
+    ownership of such entity.
+
+2. License Grants and Conditions
+--------------------------------
+
+2.1. Grants
+
+Each Contributor hereby grants You a world-wide, royalty-free,
+non-exclusive license:
+
+(a) under intellectual property rights (other than patent or trademark)
+    Licensable by such Contributor to use, reproduce, make available,
+    modify, display, perform, distribute, and otherwise exploit its
+    Contributions, either on an unmodified basis, with Modifications, or
+    as part of a Larger Work; and
+
+(b) under Patent Claims of such Contributor to make, use, sell, offer
+    for sale, have made, import, and otherwise transfer either its
+    Contributions or its Contributor Version.
+
+2.2. Effective Date
+
+The licenses granted in Section 2.1 with respect to any Contribution
+become effective for each Contribution on the date the Contributor first
+distributes such Contribution.
+
+2.3. Limitations on Grant Scope
+
+The licenses granted in this Section 2 are the only rights granted under
+this License. No additional rights or licenses will be implied from the
+distribution or licensing of Covered Software under this License.
+Notwithstanding Section 2.1(b) above, no patent license is granted by a
+Contributor:
+
+(a) for any code that a Contributor has removed from Covered Software;
+    or
+
+(b) for infringements caused by: (i) Your and any other third party's
+    modifications of Covered Software, or (ii) the combination of its
+    Contributions with other software (except as part of its Contributor
+    Version); or
+
+(c) under Patent Claims infringed by Covered Software in the absence of
+    its Contributions.
+
+This License does not grant any rights in the trademarks, service marks,
+or logos of any Contributor (except as may be necessary to comply with
+the notice requirements in Section 3.4).
+
+2.4. Subsequent Licenses
+
+No Contributor makes additional grants as a result of Your choice to
+distribute the Covered Software under a subsequent version of this
+License (see Section 10.2) or under the terms of a Secondary License (if
+permitted under the terms of Section 3.3).
+
+2.5. Representation
+
+Each Contributor represents that the Contributor believes its
+Contributions are its original creation(s) or it has sufficient rights
+to grant the rights to its Contributions conveyed by this License.
+
+2.6. Fair Use
+
+This License is not intended to limit any rights You have under
+applicable copyright doctrines of fair use, fair dealing, or other
+equivalents.
+
+2.7. Conditions
+
+Sections 3.1, 3.2, 3.3, and 3.4 are conditions of the licenses granted
+in Section 2.1.
+
+3. Responsibilities
+-------------------
+
+3.1. Distribution of Source Form
+
+All distribution of Covered Software in Source Code Form, including any
+Modifications that You create or to which You contribute, must be under
+the terms of this License. You must inform recipients that the Source
+Code Form of the Covered Software is governed by the terms of this
+License, and how they can obtain a copy of this License. You may not
+attempt to alter or restrict the recipients' rights in the Source Code
+Form.
+
+3.2. Distribution of Executable Form
+
+If You distribute Covered Software in Executable Form then:
+
+(a) such Covered Software must also be made available in Source Code
+    Form, as described in Section 3.1, and You must inform recipients of
+    the Executable Form how they can obtain a copy of such Source Code
+    Form by reasonable means in a timely manner, at a charge no more
+    than the cost of distribution to the recipient; and
+
+(b) You may distribute such Executable Form under the terms of this
+    License, or sublicense it under different terms, provided that the
+    license for the Executable Form does not attempt to limit or alter
+    the recipients' rights in the Source Code Form under this License.
+
+3.3. Distribution of a Larger Work
+
+You may create and distribute a Larger Work under terms of Your choice,
+provided that You also comply with the requirements of this License for
+the Covered Software. If the Larger Work is a combination of Covered
+Software with a work governed by one or more Secondary Licenses, and the
+Covered Software is not Incompatible With Secondary Licenses, this
+License permits You to additionally distribute such Covered Software
+under the terms of such Secondary License(s), so that the recipient of
+the Larger Work may, at their option, further distribute the Covered
+Software under the terms of either this License or such Secondary
+License(s).
+
+3.4. Notices
+
+You may not remove or alter the substance of any license notices
+(including copyright notices, patent notices, disclaimers of warranty,
+or limitations of liability) contained within the Source Code Form of
+the Covered Software, except that You may alter any license notices to
+the extent required to remedy known factual inaccuracies.
+
+3.5. Application of Additional Terms
+
+You may choose to offer, and to charge a fee for, warranty, support,
+indemnity or liability obligations to one or more recipients of Covered
+Software. However, You may do so only on Your own behalf, and not on
+behalf of any Contributor. You must make it absolutely clear that any
+such warranty, support, indemnity, or liability obligation is offered by
+You alone, and You hereby agree to indemnify every Contributor for any
+liability incurred by such Contributor as a result of warranty, support,
+indemnity or liability terms You offer. You may include additional
+disclaimers of warranty and limitations of liability specific to any
+jurisdiction.
+
+4. Inability to Comply Due to Statute or Regulation
+---------------------------------------------------
+
+If it is impossible for You to comply with any of the terms of this
+License with respect to some or all of the Covered Software due to
+statute, judicial order, or regulation then You must: (a) comply with
+the terms of this License to the maximum extent possible; and (b)
+describe the limitations and the code they affect. Such description must
+be placed in a text file included with all distributions of the Covered
+Software under this License. Except to the extent prohibited by statute
+or regulation, such description must be sufficiently detailed for a
+recipient of ordinary skill to be able to understand it.
+
+5. Termination
+--------------
+
+5.1. The rights granted under this License will terminate automatically
+if You fail to comply with any of its terms. However, if You become
+compliant, then the rights granted under this License from a particular
+Contributor are reinstated (a) provisionally, unless and until such
+Contributor explicitly and finally terminates Your grants, and (b) on an
+ongoing basis, if such Contributor fails to notify You of the
+non-compliance by some reasonable means prior to 60 days after You have
+come back into compliance. Moreover, Your grants from a particular
+Contributor are reinstated on an ongoing basis if such Contributor
+notifies You of the non-compliance by some reasonable means, this is the
+first time You have received notice of non-compliance with this License
+from such Contributor, and You become compliant prior to 30 days after
+Your receipt of the notice.
+
+5.2. If You initiate litigation against any entity by asserting a patent
+infringement claim (excluding declaratory judgment actions,
+counter-claims, and cross-claims) alleging that a Contributor Version
+directly or indirectly infringes any patent, then the rights granted to
+You by any and all Contributors for the Covered Software under Section
+2.1 of this License shall terminate.
+
+5.3. In the event of termination under Sections 5.1 or 5.2 above, all
+end user license agreements (excluding distributors and resellers) which
+have been validly granted by You or Your distributors under this License
+prior to termination shall survive termination.
+
+************************************************************************
+*                                                                      *
+*  6. Disclaimer of Warranty                                           *
+*  -------------------------                                           *
+*                                                                      *
+*  Covered Software is provided under this License on an "as is"       *
+*  basis, without warranty of any kind, either expressed, implied, or  *
+*  statutory, including, without limitation, warranties that the       *
+*  Covered Software is free of defects, merchantable, fit for a        *
+*  particular purpose or non-infringing. The entire risk as to the     *
+*  quality and performance of the Covered Software is with You.        *
+*  Should any Covered Software prove defective in any respect, You     *
+*  (not any Contributor) assume the cost of any necessary servicing,   *
+*  repair, or correction. This disclaimer of warranty constitutes an   *
+*  essential part of this License. No use of any Covered Software is   *
+*  authorized under this License except under this disclaimer.         *
+*                                                                      *
+************************************************************************
+
+************************************************************************
+*                                                                      *
+*  7. Limitation of Liability                                          *
+*  --------------------------                                          *
+*                                                                      *
+*  Under no circumstances and under no legal theory, whether tort      *
+*  (including negligence), contract, or otherwise, shall any           *
+*  Contributor, or anyone who distributes Covered Software as          *
+*  permitted above, be liable to You for any direct, indirect,         *
+*  special, incidental, or consequential damages of any character      *
+*  including, without limitation, damages for lost profits, loss of    *
+*  goodwill, work stoppage, computer failure or malfunction, or any    *
+*  and all other commercial damages or losses, even if such party      *
+*  shall have been informed of the possibility of such damages. This   *
+*  limitation of liability shall not apply to liability for death or   *
+*  personal injury resulting from such party's negligence to the       *
+*  extent applicable law prohibits such limitation. Some               *
+*  jurisdictions do not allow the exclusion or limitation of           *
+*  incidental or consequential damages, so this exclusion and          *
+*  limitation may not apply to You.                                    *
+*                                                                      *
+************************************************************************
+
+8. Litigation
+-------------
+
+Any litigation relating to this License may be brought only in the
+courts of a jurisdiction where the defendant maintains its principal
+place of business and such litigation shall be governed by laws of that
+jurisdiction, without reference to its conflict-of-law provisions.
+Nothing in this Section shall prevent a party's ability to bring
+cross-claims or counter-claims.
+
+9. Miscellaneous
+----------------
+
+This License represents the complete agreement concerning the subject
+matter hereof. If any provision of this License is held to be
+unenforceable, such provision shall be reformed only to the extent
+necessary to make it enforceable. Any law or regulation which provides
+that the language of a contract shall be construed against the drafter
+shall not be used to construe this License against a Contributor.
+
+10. Versions of the License
+---------------------------
+
+10.1. New Versions
+
+Mozilla Foundation is the license steward. Except as provided in Section
+10.3, no one other than the license steward has the right to modify or
+publish new versions of this License. Each version will be given a
+distinguishing version number.
+
+10.2. Effect of New Versions
+
+You may distribute the Covered Software under the terms of the version
+of the License under which You originally received the Covered Software,
+or under the terms of any subsequent version published by the license
+steward.
+
+10.3. Modified Versions
+
+If you create software not governed by this License, and you want to
+create a new license for such software, you may create and use a
+modified version of this License if you rename the license and remove
+any references to the name of the license steward (except to note that
+such modified license differs from this License).
+
+10.4. Distributing Source Code Form that is Incompatible With Secondary
+Licenses
+
+If You choose to distribute Source Code Form that is Incompatible With
+Secondary Licenses under the terms of this version of the License, the
+notice described in Exhibit B of this License must be attached.
+
+Exhibit A - Source Code Form License Notice
+-------------------------------------------
+
+  This Source Code Form is subject to the terms of the Mozilla Public
+  License, v. 2.0. If a copy of the MPL was not distributed with this
+  file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+If it is not possible or desirable to put the notice in a particular
+file, then You may include the notice in a location (such as a LICENSE
+file in a relevant directory) where a recipient would be likely to look
+for such a notice.
+
+You may add additional accurate notices of copyright ownership.
+
+Exhibit B - "Incompatible With Secondary Licenses" Notice
+---------------------------------------------------------
+
+  This Source Code Form is "Incompatible With Secondary Licenses", as
+  defined by the Mozilla Public License, v. 2.0.
diff --git a/gtsam/3rdparty/Eigen/COPYING.README b/gtsam/3rdparty/Eigen/COPYING.README
new file mode 100644
index 000000000..de5b63215
--- /dev/null
+++ b/gtsam/3rdparty/Eigen/COPYING.README
@@ -0,0 +1,18 @@
+Eigen is primarily MPL2 licensed. See COPYING.MPL2 and these links:
+  http://www.mozilla.org/MPL/2.0/
+  http://www.mozilla.org/MPL/2.0/FAQ.html
+
+Some files contain third-party code under BSD or LGPL licenses, whence the other
+COPYING.* files here.
+
+All the LGPL code is either LGPL 2.1-only, or LGPL 2.1-or-later.
+For this reason, the COPYING.LGPL file contains the LGPL 2.1 text.
+
+If you want to guarantee that the Eigen code that you are #including is licensed
+under the MPL2 and possibly more permissive licenses (like BSD), #define this
+preprocessor symbol:
+  EIGEN_MPL2_ONLY
+For example, with most compilers, you could add this to your project CXXFLAGS:
+  -DEIGEN_MPL2_ONLY
+This will cause a compilation error to be generated if you #include any code that is
+LGPL licensed.
diff --git a/gtsam/3rdparty/Eigen/Eigen/Core b/gtsam/3rdparty/Eigen/Eigen/Core
index 0cf101636..d48017022 100644
--- a/gtsam/3rdparty/Eigen/Eigen/Core
+++ b/gtsam/3rdparty/Eigen/Eigen/Core
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2007-2011 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_CORE_H
 #define EIGEN_CORE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/Eigen2Support b/gtsam/3rdparty/Eigen/Eigen/Eigen2Support
index c2aa2f618..36156d29a 100644
--- a/gtsam/3rdparty/Eigen/Eigen/Eigen2Support
+++ b/gtsam/3rdparty/Eigen/Eigen/Eigen2Support
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN2SUPPORT_H
 #define EIGEN2SUPPORT_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/StdDeque b/gtsam/3rdparty/Eigen/Eigen/StdDeque
index a4f96232d..f27234778 100644
--- a/gtsam/3rdparty/Eigen/Eigen/StdDeque
+++ b/gtsam/3rdparty/Eigen/Eigen/StdDeque
@@ -4,24 +4,9 @@
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_STDDEQUE_MODULE_H
 #define EIGEN_STDDEQUE_MODULE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/StdList b/gtsam/3rdparty/Eigen/Eigen/StdList
index d914ded4f..225c1e18f 100644
--- a/gtsam/3rdparty/Eigen/Eigen/StdList
+++ b/gtsam/3rdparty/Eigen/Eigen/StdList
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_STDLIST_MODULE_H
 #define EIGEN_STDLIST_MODULE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/StdVector b/gtsam/3rdparty/Eigen/Eigen/StdVector
index 3d8995e5a..6b22627f6 100644
--- a/gtsam/3rdparty/Eigen/Eigen/StdVector
+++ b/gtsam/3rdparty/Eigen/Eigen/StdVector
@@ -4,24 +4,9 @@
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_STDVECTOR_MODULE_H
 #define EIGEN_STDVECTOR_MODULE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Cholesky/LDLT.h b/gtsam/3rdparty/Eigen/Eigen/src/Cholesky/LDLT.h
index ef257aded..68e54b1d4 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Cholesky/LDLT.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Cholesky/LDLT.h
@@ -6,24 +6,9 @@
 // Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
 // Copyright (C) 2011 Timothy E. Holy <tim.holy@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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_LDLT_H
 #define EIGEN_LDLT_H
@@ -370,7 +355,7 @@ template<> struct ldlt_inplace<Lower>
     for (Index j = 0; j < size; j++)
     {
       // Check for termination due to an original decomposition of low-rank
-      if (!isfinite(alpha))
+      if (!(isfinite)(alpha))
         break;
 
       // Update the diagonal terms
@@ -514,12 +499,12 @@ struct solve_retval<LDLT<_MatrixType,_UpLo>, Rhs>
     typedef typename LDLTType::RealScalar RealScalar;
     const Diagonal<const MatrixType> vectorD = dec().vectorD();
     RealScalar tolerance = (max)(vectorD.array().abs().maxCoeff() * NumTraits<Scalar>::epsilon(),
-         RealScalar(1) / NumTraits<RealScalar>::highest()); // motivated by LAPACK's xGELSS
+				 RealScalar(1) / NumTraits<RealScalar>::highest()); // motivated by LAPACK's xGELSS
     for (Index i = 0; i < vectorD.size(); ++i) {
       if(abs(vectorD(i)) > tolerance)
-  dst.row(i) /= vectorD(i);
+	dst.row(i) /= vectorD(i);
       else
-  dst.row(i).setZero();
+	dst.row(i).setZero();
     }
 
     // dst = L^-T (D^-1 L^-1 P b)
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Cholesky/LLT.h b/gtsam/3rdparty/Eigen/Eigen/src/Cholesky/LLT.h
index 17c6d6b8d..41d14e532 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Cholesky/LLT.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Cholesky/LLT.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_LLT_H
 #define EIGEN_LLT_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/CholmodSupport/CholmodSupport.h b/gtsam/3rdparty/Eigen/Eigen/src/CholmodSupport/CholmodSupport.h
index a06c429f0..37f142150 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/CholmodSupport/CholmodSupport.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/CholmodSupport/CholmodSupport.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_CHOLMODSUPPORT_H
 #define EIGEN_CHOLMODSUPPORT_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/Array.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/Array.h
index 4762933d7..aaa389978 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/Array.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/Array.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_ARRAY_H
 #define EIGEN_ARRAY_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/ArrayBase.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/ArrayBase.h
index ec3a4be43..004b117c9 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/ArrayBase.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/ArrayBase.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_ARRAYBASE_H
 #define EIGEN_ARRAYBASE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/ArrayWrapper.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/ArrayWrapper.h
index f8a442cee..65ffd64ca 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/ArrayWrapper.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/ArrayWrapper.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_ARRAYWRAPPER_H
 #define EIGEN_ARRAYWRAPPER_H
@@ -136,6 +121,13 @@ class ArrayWrapper : public ArrayBase<ArrayWrapper<ExpressionType> >
       return m_expression;
     }
 
+    /** Forwards the resizing request to the nested expression
+      * \sa DenseBase::resize(Index)  */
+    void resize(Index newSize) { m_expression.const_cast_derived().resize(newSize); }
+    /** Forwards the resizing request to the nested expression
+      * \sa DenseBase::resize(Index,Index)*/
+    void resize(Index nbRows, Index nbCols) { m_expression.const_cast_derived().resize(nbRows,nbCols); }
+
   protected:
     NestedExpressionType m_expression;
 };
@@ -246,6 +238,13 @@ class MatrixWrapper : public MatrixBase<MatrixWrapper<ExpressionType> >
       return m_expression;
     }
 
+    /** Forwards the resizing request to the nested expression
+      * \sa DenseBase::resize(Index)  */
+    void resize(Index newSize) { m_expression.const_cast_derived().resize(newSize); }
+    /** Forwards the resizing request to the nested expression
+      * \sa DenseBase::resize(Index,Index)*/
+    void resize(Index nbRows, Index nbCols) { m_expression.const_cast_derived().resize(nbRows,nbCols); }
+
   protected:
     NestedExpressionType m_expression;
 };
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/Assign.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/Assign.h
index 75390acf3..cd29a88f0 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/Assign.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/Assign.h
@@ -5,24 +5,9 @@
 // Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_ASSIGN_H
 #define EIGEN_ASSIGN_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/BandMatrix.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/BandMatrix.h
index 8ef917de1..ffd7fe8b3 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/BandMatrix.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/BandMatrix.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_BANDMATRIX_H
 #define EIGEN_BANDMATRIX_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/Block.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/Block.h
index 84ad9b63b..5f29cb3d1 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/Block.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/Block.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2010 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_BLOCK_H
 #define EIGEN_BLOCK_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/BooleanRedux.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/BooleanRedux.h
index 2c554a57d..57efd8e69 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/BooleanRedux.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/BooleanRedux.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_ALLANDANY_H
 #define EIGEN_ALLANDANY_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/CommaInitializer.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/CommaInitializer.h
index f9ec1d587..f20c1774c 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/CommaInitializer.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/CommaInitializer.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_COMMAINITIALIZER_H
 #define EIGEN_COMMAINITIALIZER_H
@@ -80,6 +65,8 @@ struct CommaInitializer
   template<typename OtherDerived>
   CommaInitializer& operator,(const DenseBase<OtherDerived>& other)
   {
+    if(other.cols()==0 || other.rows()==0)
+      return *this;
     if (m_col==m_xpr.cols())
     {
       m_row+=m_currentBlockRows;
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/CwiseBinaryOp.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/CwiseBinaryOp.h
index 32599a7d9..1b93af31b 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/CwiseBinaryOp.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/CwiseBinaryOp.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_CWISE_BINARY_OP_H
 #define EIGEN_CWISE_BINARY_OP_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/CwiseNullaryOp.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/CwiseNullaryOp.h
index a6d5e0934..2635a62b0 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/CwiseNullaryOp.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/CwiseNullaryOp.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_CWISE_NULLARY_OP_H
 #define EIGEN_CWISE_NULLARY_OP_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/CwiseUnaryOp.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/CwiseUnaryOp.h
index 9110c9800..063355ae5 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/CwiseUnaryOp.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/CwiseUnaryOp.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_CWISE_UNARY_OP_H
 #define EIGEN_CWISE_UNARY_OP_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/CwiseUnaryView.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/CwiseUnaryView.h
index bf16243d5..66f73a950 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/CwiseUnaryView.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/CwiseUnaryView.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_CWISE_UNARY_VIEW_H
 #define EIGEN_CWISE_UNARY_VIEW_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseBase.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseBase.h
index 1882dcca4..1cc0314ef 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseBase.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseBase.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2007-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
 // Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_DENSEBASE_H
 #define EIGEN_DENSEBASE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseCoeffsBase.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseCoeffsBase.h
index e1aa1a5f8..72704c2d7 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseCoeffsBase.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseCoeffsBase.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2006-2010 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_DENSECOEFFSBASE_H
 #define EIGEN_DENSECOEFFSBASE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseStorage.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseStorage.h
index 0ea05bc90..1fc2daf2c 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseStorage.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseStorage.h
@@ -5,24 +5,9 @@
 // Copyright (C) 2006-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
 // Copyright (C) 2010 Hauke Heibel <hauke.heibel@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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_MATRIXSTORAGE_H
 #define EIGEN_MATRIXSTORAGE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/Diagonal.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/Diagonal.h
index 77b765f15..16261968a 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/Diagonal.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/Diagonal.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2007-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
 // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_DIAGONAL_H
 #define EIGEN_DIAGONAL_H
@@ -56,16 +41,15 @@ struct traits<Diagonal<MatrixType,DiagIndex> >
   typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
   typedef typename MatrixType::StorageKind StorageKind;
   enum {
-    AbsDiagIndex = DiagIndex<0 ? -DiagIndex : DiagIndex, // only used if DiagIndex != Dynamic
-    // FIXME these computations are broken in the case where the matrix is rectangular and DiagIndex!=0
     RowsAtCompileTime = (int(DiagIndex) == Dynamic || int(MatrixType::SizeAtCompileTime) == Dynamic) ? Dynamic
-                      : (EIGEN_SIZE_MIN_PREFER_DYNAMIC(MatrixType::RowsAtCompileTime,
-                                        MatrixType::ColsAtCompileTime) - AbsDiagIndex),
+    : (EIGEN_PLAIN_ENUM_MIN(MatrixType::RowsAtCompileTime - EIGEN_PLAIN_ENUM_MAX(-DiagIndex, 0),
+                            MatrixType::ColsAtCompileTime - EIGEN_PLAIN_ENUM_MAX( DiagIndex, 0))),
     ColsAtCompileTime = 1,
     MaxRowsAtCompileTime = int(MatrixType::MaxSizeAtCompileTime) == Dynamic ? Dynamic
                          : DiagIndex == Dynamic ? EIGEN_SIZE_MIN_PREFER_FIXED(MatrixType::MaxRowsAtCompileTime,
-                                                                    MatrixType::MaxColsAtCompileTime)
-                         : (EIGEN_SIZE_MIN_PREFER_FIXED(MatrixType::MaxRowsAtCompileTime, MatrixType::MaxColsAtCompileTime) - AbsDiagIndex),
+                                                                              MatrixType::MaxColsAtCompileTime)
+                         : (EIGEN_PLAIN_ENUM_MIN(MatrixType::MaxRowsAtCompileTime - EIGEN_PLAIN_ENUM_MAX(-DiagIndex, 0),
+                                                 MatrixType::MaxColsAtCompileTime - EIGEN_PLAIN_ENUM_MAX( DiagIndex, 0))),
     MaxColsAtCompileTime = 1,
     MaskLvalueBit = is_lvalue<MatrixType>::value ? LvalueBit : 0,
     Flags = (unsigned int)_MatrixTypeNested::Flags & (HereditaryBits | LinearAccessBit | MaskLvalueBit | DirectAccessBit) & ~RowMajorBit,
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/DiagonalMatrix.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/DiagonalMatrix.h
index 844f9864b..6e8b50fab 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/DiagonalMatrix.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/DiagonalMatrix.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2007-2009 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_DIAGONALMATRIX_H
 #define EIGEN_DIAGONALMATRIX_H
@@ -35,6 +20,7 @@ class DiagonalBase : public EigenBase<Derived>
   public:
     typedef typename internal::traits<Derived>::DiagonalVectorType DiagonalVectorType;
     typedef typename DiagonalVectorType::Scalar Scalar;
+    typedef typename DiagonalVectorType::RealScalar RealScalar;
     typedef typename internal::traits<Derived>::StorageKind StorageKind;
     typedef typename internal::traits<Derived>::Index Index;
 
@@ -80,6 +66,17 @@ class DiagonalBase : public EigenBase<Derived>
       return diagonal().cwiseInverse();
     }
     
+    inline const DiagonalWrapper<const CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const DiagonalVectorType> >
+    operator*(const Scalar& scalar) const
+    {
+      return diagonal() * scalar;
+    }
+    friend inline const DiagonalWrapper<const CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const DiagonalVectorType> >
+    operator*(const Scalar& scalar, const DiagonalBase& other)
+    {
+      return other.diagonal() * scalar;
+    }
+    
     #ifdef EIGEN2_SUPPORT
     template<typename OtherDerived>
     bool isApprox(const DiagonalBase<OtherDerived>& other, typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision()) const
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/DiagonalProduct.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/DiagonalProduct.h
index 9f6a99895..598c6b3e1 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/DiagonalProduct.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/DiagonalProduct.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2007-2009 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_DIAGONALPRODUCT_H
 #define EIGEN_DIAGONALPRODUCT_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/Dot.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/Dot.h
index 67dbbf8ba..ae9274e36 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/Dot.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/Dot.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2006-2008, 2010 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_DOT_H
 #define EIGEN_DOT_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/EigenBase.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/EigenBase.h
index 77d4c25d5..0bbd28bec 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/EigenBase.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/EigenBase.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_EIGENBASE_H
 #define EIGEN_EIGENBASE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/Flagged.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/Flagged.h
index 47f411b05..1f2955fc1 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/Flagged.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/Flagged.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_FLAGGED_H
 #define EIGEN_FLAGGED_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/ForceAlignedAccess.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/ForceAlignedAccess.h
index 238b7b770..807c7a293 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/ForceAlignedAccess.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/ForceAlignedAccess.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_FORCEALIGNEDACCESS_H
 #define EIGEN_FORCEALIGNEDACCESS_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/Functors.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/Functors.h
index f33f636bb..2f46abfdd 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/Functors.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/Functors.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_FUNCTORS_H
 #define EIGEN_FUNCTORS_H
@@ -462,7 +447,7 @@ struct functor_traits<scalar_log_op<Scalar> >
  * indeed it seems better to declare m_other as a Packet and do the pset1() once
  * in the constructor. However, in practice:
  *  - GCC does not like m_other as a Packet and generate a load every time it needs it
- *  - on the other hand GCC is able to moves the pset1() away the loop :)
+ *  - on the other hand GCC is able to moves the pset1() outside the loop :)
  *  - simpler code ;)
  * (ICC and gcc 4.4 seems to perform well in both cases, the issue is visible with y = a*x + b*y)
  */
@@ -493,33 +478,6 @@ template<typename Scalar1,typename Scalar2>
 struct functor_traits<scalar_multiple2_op<Scalar1,Scalar2> >
 { enum { Cost = NumTraits<Scalar1>::MulCost, PacketAccess = false }; };
 
-template<typename Scalar, bool IsInteger>
-struct scalar_quotient1_impl {
-  typedef typename packet_traits<Scalar>::type Packet;
-  // FIXME default copy constructors seems bugged with std::complex<>
-  EIGEN_STRONG_INLINE scalar_quotient1_impl(const scalar_quotient1_impl& other) : m_other(other.m_other) { }
-  EIGEN_STRONG_INLINE scalar_quotient1_impl(const Scalar& other) : m_other(static_cast<Scalar>(1) / other) {}
-  EIGEN_STRONG_INLINE Scalar operator() (const Scalar& a) const { return a * m_other; }
-  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
-  { return internal::pmul(a, pset1<Packet>(m_other)); }
-  const Scalar m_other;
-};
-template<typename Scalar>
-struct functor_traits<scalar_quotient1_impl<Scalar,false> >
-{ enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasMul }; };
-
-template<typename Scalar>
-struct scalar_quotient1_impl<Scalar,true> {
-  // FIXME default copy constructors seems bugged with std::complex<>
-  EIGEN_STRONG_INLINE scalar_quotient1_impl(const scalar_quotient1_impl& other) : m_other(other.m_other) { }
-  EIGEN_STRONG_INLINE scalar_quotient1_impl(const Scalar& other) : m_other(other) {}
-  EIGEN_STRONG_INLINE Scalar operator() (const Scalar& a) const { return a / m_other; }
-  typename add_const_on_value_type<typename NumTraits<Scalar>::Nested>::type m_other;
-};
-template<typename Scalar>
-struct functor_traits<scalar_quotient1_impl<Scalar,true> >
-{ enum { Cost = 2 * NumTraits<Scalar>::MulCost, PacketAccess = false }; };
-
 /** \internal
   * \brief Template functor to divide a scalar by a fixed other one
   *
@@ -529,14 +487,19 @@ struct functor_traits<scalar_quotient1_impl<Scalar,true> >
   * \sa class CwiseUnaryOp, MatrixBase::operator/
   */
 template<typename Scalar>
-struct scalar_quotient1_op : scalar_quotient1_impl<Scalar, NumTraits<Scalar>::IsInteger > {
-  EIGEN_STRONG_INLINE scalar_quotient1_op(const Scalar& other)
-    : scalar_quotient1_impl<Scalar, NumTraits<Scalar>::IsInteger >(other) {}
+struct scalar_quotient1_op {
+  typedef typename packet_traits<Scalar>::type Packet;
+  // FIXME default copy constructors seems bugged with std::complex<>
+  EIGEN_STRONG_INLINE scalar_quotient1_op(const scalar_quotient1_op& other) : m_other(other.m_other) { }
+  EIGEN_STRONG_INLINE scalar_quotient1_op(const Scalar& other) : m_other(other) {}
+  EIGEN_STRONG_INLINE Scalar operator() (const Scalar& a) const { return a / m_other; }
+  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
+  { return internal::pdiv(a, pset1<Packet>(m_other)); }
+  typename add_const_on_value_type<typename NumTraits<Scalar>::Nested>::type m_other;
 };
 template<typename Scalar>
 struct functor_traits<scalar_quotient1_op<Scalar> >
-: functor_traits<scalar_quotient1_impl<Scalar, NumTraits<Scalar>::IsInteger> >
-{};
+{ enum { Cost = 2 * NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasDiv }; };
 
 // nullary functors
 
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/Fuzzy.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/Fuzzy.h
index 887641163..d74edcfdb 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/Fuzzy.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/Fuzzy.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_FUZZY_H
 #define EIGEN_FUZZY_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/GeneralProduct.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/GeneralProduct.h
index 4fbe1f14b..bfc2a67b1 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/GeneralProduct.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/GeneralProduct.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
 // Copyright (C) 2008-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_GENERAL_PRODUCT_H
 #define EIGEN_GENERAL_PRODUCT_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/GenericPacketMath.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/GenericPacketMath.h
index d92ac9529..858fb243e 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/GenericPacketMath.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/GenericPacketMath.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_GENERIC_PACKET_MATH_H
 #define EIGEN_GENERIC_PACKET_MATH_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/GlobalFunctions.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/GlobalFunctions.h
index 94605252d..e63726c47 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/GlobalFunctions.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/GlobalFunctions.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2010 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_GLOBAL_FUNCTIONS_H
 #define EIGEN_GLOBAL_FUNCTIONS_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/IO.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/IO.h
index 2f1906f2a..cc8e18a00 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/IO.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/IO.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_IO_H
 #define EIGEN_IO_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/Map.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/Map.h
index 360a2280e..15a19226e 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/Map.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/Map.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2007-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_MAP_H
 #define EIGEN_MAP_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/MapBase.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/MapBase.h
index 2b736cb74..a388d61ea 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/MapBase.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/MapBase.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2007-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_MAPBASE_H
 #define EIGEN_MAPBASE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/MathFunctions.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/MathFunctions.h
index ab153c1eb..05e913f2f 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/MathFunctions.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/MathFunctions.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2006-2010 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_MATHFUNCTIONS_H
 #define EIGEN_MATHFUNCTIONS_H
@@ -845,7 +830,7 @@ template<> struct scalar_fuzzy_impl<bool>
 
 // std::isfinite is non standard, so let's define our own version,
 // even though it is not very efficient.
-template<typename T> bool isfinite(const T& x)
+template<typename T> bool (isfinite)(const T& x)
 {
   return x<NumTraits<T>::highest() && x>NumTraits<T>::lowest();
 }
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/Matrix.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/Matrix.h
index 8742a0130..99160b591 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/Matrix.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/Matrix.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2006-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_MATRIX_H
 #define EIGEN_MATRIX_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/MatrixBase.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/MatrixBase.h
index 5a744c5ec..36ea2cee8 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/MatrixBase.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/MatrixBase.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2006-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_MATRIXBASE_H
 #define EIGEN_MATRIXBASE_H
@@ -252,7 +237,7 @@ template<typename Derived> class MatrixBase
     
     // huuuge hack. make Eigen2's matrix.part<Diagonal>() work in eigen3. Problem: Diagonal is now a class template instead
     // of an integer constant. Solution: overload the part() method template wrt template parameters list.
-    template<template<typename T, int n> class U>
+    template<template<typename T, int N> class U>
     const DiagonalWrapper<ConstDiagonalReturnType> part() const
     { return diagonal().asDiagonal(); }
     #endif // EIGEN2_SUPPORT
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/NestByValue.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/NestByValue.h
index cfe3e7990..a893b1761 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/NestByValue.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/NestByValue.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_NESTBYVALUE_H
 #define EIGEN_NESTBYVALUE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/NoAlias.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/NoAlias.h
index 5278cfb73..ecb3fa285 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/NoAlias.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/NoAlias.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_NOALIAS_H
 #define EIGEN_NOALIAS_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/NumTraits.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/NumTraits.h
index e8867235e..c94ef026b 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/NumTraits.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/NumTraits.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2006-2010 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_NUMTRAITS_H
 #define EIGEN_NUMTRAITS_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/PermutationMatrix.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/PermutationMatrix.h
index e0d618dfb..bc29f8142 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/PermutationMatrix.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/PermutationMatrix.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
 // Copyright (C) 2009-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_PERMUTATIONMATRIX_H
 #define EIGEN_PERMUTATIONMATRIX_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/PlainObjectBase.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/PlainObjectBase.h
index f9c432732..71c74309a 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/PlainObjectBase.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/PlainObjectBase.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_DENSESTORAGEBASE_H
 #define EIGEN_DENSESTORAGEBASE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/Product.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/Product.h
index 53eb0fbae..30aa8943b 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/Product.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/Product.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v. 2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_PRODUCT_H
 #define EIGEN_PRODUCT_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/ProductBase.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/ProductBase.h
index 6cf02a649..ec12e5c9f 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/ProductBase.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/ProductBase.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_PRODUCTBASE_H
 #define EIGEN_PRODUCTBASE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/Random.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/Random.h
index 1470e9184..a9f7f4346 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/Random.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/Random.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_RANDOM_H
 #define EIGEN_RANDOM_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/Redux.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/Redux.h
index d66ff00c1..b7ce7c658 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/Redux.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/Redux.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_REDUX_H
 #define EIGEN_REDUX_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/Replicate.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/Replicate.h
index 79e3578df..b61fdc29e 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/Replicate.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/Replicate.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_REPLICATE_H
 #define EIGEN_REPLICATE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/ReturnByValue.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/ReturnByValue.h
index 24b6a3f6a..613912ffa 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/ReturnByValue.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/ReturnByValue.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2009-2010 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_RETURNBYVALUE_H
 #define EIGEN_RETURNBYVALUE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/Reverse.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/Reverse.h
index 9e4e8a2bc..e30ae3d28 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/Reverse.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/Reverse.h
@@ -5,24 +5,9 @@
 // Copyright (C) 2009 Ricard Marxer <email@ricardmarxer.com>
 // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_REVERSE_H
 #define EIGEN_REVERSE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/Select.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/Select.h
index 92508a168..2bf6e91d0 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/Select.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/Select.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SELECT_H
 #define EIGEN_SELECT_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/SelfAdjointView.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/SelfAdjointView.h
index 086f05c49..82cc4da73 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/SelfAdjointView.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/SelfAdjointView.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SELFADJOINTMATRIX_H
 #define EIGEN_SELFADJOINTMATRIX_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/SelfCwiseBinaryOp.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/SelfCwiseBinaryOp.h
index 99389d7e2..0caf2bab1 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/SelfCwiseBinaryOp.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/SelfCwiseBinaryOp.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SELFCWISEBINARYOP_H
 #define EIGEN_SELFCWISEBINARYOP_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/SolveTriangular.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/SolveTriangular.h
index ef09226a4..ef17f288e 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/SolveTriangular.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/SolveTriangular.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SOLVETRIANGULAR_H
 #define EIGEN_SOLVETRIANGULAR_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/StableNorm.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/StableNorm.h
index 16514c86a..7499b195e 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/StableNorm.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/StableNorm.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_STABLENORM_H
 #define EIGEN_STABLENORM_H
@@ -146,7 +131,6 @@ MatrixBase<Derived>::blueNorm() const
     abig = internal::sqrt(abig);
     if(abig > overfl)
     {
-      eigen_assert(false && "overflow");
       return rbig;
     }
     if(amed > RealScalar(0))
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/Stride.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/Stride.h
index 73c54e6bf..1e3f5fe9f 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/Stride.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/Stride.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_STRIDE_H
 #define EIGEN_STRIDE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/Swap.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/Swap.h
index deb1d2831..fd73cf3ad 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/Swap.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/Swap.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SWAP_H
 #define EIGEN_SWAP_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/Transpose.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/Transpose.h
index c62f74764..045a1cce6 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/Transpose.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/Transpose.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
 // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_TRANSPOSE_H
 #define EIGEN_TRANSPOSE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/Transpositions.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/Transpositions.h
index fa37822f8..2cd268a5f 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/Transpositions.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/Transpositions.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_TRANSPOSITIONS_H
 #define EIGEN_TRANSPOSITIONS_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/TriangularMatrix.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/TriangularMatrix.h
index 5e97e4052..301b0ef24 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/TriangularMatrix.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/TriangularMatrix.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_TRIANGULARMATRIX_H
 #define EIGEN_TRIANGULARMATRIX_H
@@ -526,6 +511,7 @@ template<typename Derived1, typename Derived2, bool ClearOpposite>
 struct triangular_assignment_selector<Derived1, Derived2, StrictlyUpper, Dynamic, ClearOpposite>
 {
   typedef typename Derived1::Index Index;
+  typedef typename Derived1::Scalar Scalar;
   static inline void run(Derived1 &dst, const Derived2 &src)
   {
     for(Index j = 0; j < dst.cols(); ++j)
@@ -535,7 +521,7 @@ struct triangular_assignment_selector<Derived1, Derived2, StrictlyUpper, Dynamic
         dst.copyCoeff(i, j, src);
       if (ClearOpposite)
         for(Index i = maxi; i < dst.rows(); ++i)
-          dst.coeffRef(i, j) = 0;
+          dst.coeffRef(i, j) = Scalar(0);
     }
   }
 };
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/VectorBlock.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/VectorBlock.h
index 66c9fd21a..6f4effca0 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/VectorBlock.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/VectorBlock.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_VECTORBLOCK_H
 #define EIGEN_VECTORBLOCK_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/VectorwiseOp.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/VectorwiseOp.h
index 7b5be7cd5..862c0f336 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/VectorwiseOp.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/VectorwiseOp.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_PARTIAL_REDUX_H
 #define EIGEN_PARTIAL_REDUX_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/Visitor.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/Visitor.h
index fd04fd978..916bfd096 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/Visitor.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/Visitor.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_VISITOR_H
 #define EIGEN_VISITOR_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/AltiVec/Complex.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/AltiVec/Complex.h
index b2d866b71..68d9a2bff 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/AltiVec/Complex.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/AltiVec/Complex.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_COMPLEX_ALTIVEC_H
 #define EIGEN_COMPLEX_ALTIVEC_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/AltiVec/PacketMath.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/AltiVec/PacketMath.h
index 5b62b4c31..75de19311 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/AltiVec/PacketMath.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/AltiVec/PacketMath.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Konstantinos Margaritis <markos@codex.gr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_PACKET_MATH_ALTIVEC_H
 #define EIGEN_PACKET_MATH_ALTIVEC_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/Default/Settings.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/Default/Settings.h
index 957adc8fe..097373c84 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/Default/Settings.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/Default/Settings.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 
 /* All the parameters defined in this file can be specialized in the
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/NEON/Complex.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/NEON/Complex.h
index 72abb6f4a..795b4be73 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/NEON/Complex.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/NEON/Complex.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_COMPLEX_NEON_H
 #define EIGEN_COMPLEX_NEON_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/NEON/PacketMath.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/NEON/PacketMath.h
index 1eb082a5b..a20250f7c 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/NEON/PacketMath.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/NEON/PacketMath.h
@@ -5,24 +5,9 @@
 // Copyright (C) 2010 Konstantinos Margaritis <markos@codex.gr>
 // Heavily based on Gael's SSE version.
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_PACKET_MATH_NEON_H
 #define EIGEN_PACKET_MATH_NEON_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/SSE/Complex.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/SSE/Complex.h
index 1615886ac..12df98775 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/SSE/Complex.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/SSE/Complex.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_COMPLEX_SSE_H
 #define EIGEN_COMPLEX_SSE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/SSE/MathFunctions.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/SSE/MathFunctions.h
index de2f06d5f..3f41a4e26 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/SSE/MathFunctions.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/SSE/MathFunctions.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2007 Julien Pommier
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 /* The sin, cos, exp, and log functions of this file come from
  * Julien Pommier's sse math library: http://gruntthepeon.free.fr/ssemath/
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/SSE/PacketMath.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/SSE/PacketMath.h
index 8faeeefc9..10d918219 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/SSE/PacketMath.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/arch/SSE/PacketMath.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_PACKET_MATH_SSE_H
 #define EIGEN_PACKET_MATH_SSE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/CoeffBasedProduct.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/CoeffBasedProduct.h
index 8f53c43ad..403d25fa9 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/CoeffBasedProduct.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/CoeffBasedProduct.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
 // Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_COEFFBASED_PRODUCT_H
 #define EIGEN_COEFFBASED_PRODUCT_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/GeneralBlockPanelKernel.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/GeneralBlockPanelKernel.h
index d631fa28e..5eb03c98c 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/GeneralBlockPanelKernel.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/GeneralBlockPanelKernel.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_GENERAL_BLOCK_PANEL_H
 #define EIGEN_GENERAL_BLOCK_PANEL_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/GeneralMatrixMatrix.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/GeneralMatrixMatrix.h
index 76fc32032..73a465ec5 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/GeneralMatrixMatrix.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/GeneralMatrixMatrix.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_GENERAL_MATRIX_MATRIX_H
 #define EIGEN_GENERAL_MATRIX_MATRIX_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h
index 74331ee4f..432d3a9dc 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_GENERAL_MATRIX_MATRIX_TRIANGULAR_H
 #define EIGEN_GENERAL_MATRIX_MATRIX_TRIANGULAR_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/GeneralMatrixVector.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/GeneralMatrixVector.h
index d868a66a1..71eb7661d 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/GeneralMatrixVector.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/GeneralMatrixVector.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_GENERAL_MATRIX_VECTOR_H
 #define EIGEN_GENERAL_MATRIX_VECTOR_H
@@ -96,14 +81,13 @@ EIGEN_DONT_INLINE static void run(
   const Index peels = 2;
   const Index LhsPacketAlignedMask = LhsPacketSize-1;
   const Index ResPacketAlignedMask = ResPacketSize-1;
-  const Index PeelAlignedMask = ResPacketSize*peels-1;
   const Index size = rows;
   
   // How many coeffs of the result do we have to skip to be aligned.
   // Here we assume data are at least aligned on the base scalar type.
   Index alignedStart = internal::first_aligned(res,size);
   Index alignedSize = ResPacketSize>1 ? alignedStart + ((size-alignedStart) & ~ResPacketAlignedMask) : 0;
-  const Index peeledSize  = peels>1 ? alignedStart + ((alignedSize-alignedStart) & ~PeelAlignedMask) : alignedStart;
+  const Index peeledSize = alignedSize - RhsPacketSize*peels - RhsPacketSize + 1;
 
   const Index alignmentStep = LhsPacketSize>1 ? (LhsPacketSize - lhsStride % LhsPacketSize) & LhsPacketAlignedMask : 0;
   Index alignmentPattern = alignmentStep==0 ? AllAligned
@@ -192,6 +176,8 @@ EIGEN_DONT_INLINE static void run(
               _EIGEN_ACCUMULATE_PACKETS(d,du,d);
             break;
           case FirstAligned:
+          {
+            Index j = alignedStart;
             if(peels>1)
             {
               LhsPacket A00, A01, A02, A03, A10, A11, A12, A13;
@@ -201,7 +187,7 @@ EIGEN_DONT_INLINE static void run(
               A02 = pload<LhsPacket>(&lhs2[alignedStart-2]);
               A03 = pload<LhsPacket>(&lhs3[alignedStart-3]);
 
-              for (Index j = alignedStart; j<peeledSize; j+=peels*ResPacketSize)
+              for (; j<peeledSize; j+=peels*ResPacketSize)
               {
                 A11 = pload<LhsPacket>(&lhs1[j-1+LhsPacketSize]);  palign<1>(A01,A11);
                 A12 = pload<LhsPacket>(&lhs2[j-2+LhsPacketSize]);  palign<2>(A02,A12);
@@ -225,9 +211,10 @@ EIGEN_DONT_INLINE static void run(
                 pstore(&res[j+ResPacketSize],T1);
               }
             }
-            for (Index j = peeledSize; j<alignedSize; j+=ResPacketSize)
+            for (; j<alignedSize; j+=ResPacketSize)
               _EIGEN_ACCUMULATE_PACKETS(d,du,du);
             break;
+          }
           default:
             for (Index j = alignedStart; j<alignedSize; j+=ResPacketSize)
               _EIGEN_ACCUMULATE_PACKETS(du,du,du);
@@ -347,7 +334,6 @@ EIGEN_DONT_INLINE static void run(
   const Index peels = 2;
   const Index RhsPacketAlignedMask = RhsPacketSize-1;
   const Index LhsPacketAlignedMask = LhsPacketSize-1;
-  const Index PeelAlignedMask = RhsPacketSize*peels-1;
   const Index depth = cols;
 
   // How many coeffs of the result do we have to skip to be aligned.
@@ -355,7 +341,7 @@ EIGEN_DONT_INLINE static void run(
   // if that's not the case then vectorization is discarded, see below.
   Index alignedStart = internal::first_aligned(rhs, depth);
   Index alignedSize = RhsPacketSize>1 ? alignedStart + ((depth-alignedStart) & ~RhsPacketAlignedMask) : 0;
-  const Index peeledSize  = peels>1 ? alignedStart + ((alignedSize-alignedStart) & ~PeelAlignedMask) : alignedStart;
+  const Index peeledSize = alignedSize - RhsPacketSize*peels - RhsPacketSize + 1;
 
   const Index alignmentStep = LhsPacketSize>1 ? (LhsPacketSize - lhsStride % LhsPacketSize) & LhsPacketAlignedMask : 0;
   Index alignmentPattern = alignmentStep==0 ? AllAligned
@@ -445,10 +431,12 @@ EIGEN_DONT_INLINE static void run(
               _EIGEN_ACCUMULATE_PACKETS(d,du,d);
             break;
           case FirstAligned:
+          {
+            Index j = alignedStart;
             if (peels>1)
             {
               /* Here we proccess 4 rows with with two peeled iterations to hide
-               * tghe overhead of unaligned loads. Moreover unaligned loads are handled
+               * the overhead of unaligned loads. Moreover unaligned loads are handled
                * using special shift/move operations between the two aligned packets
                * overlaping the desired unaligned packet. This is *much* more efficient
                * than basic unaligned loads.
@@ -458,7 +446,7 @@ EIGEN_DONT_INLINE static void run(
               A02 = pload<LhsPacket>(&lhs2[alignedStart-2]);
               A03 = pload<LhsPacket>(&lhs3[alignedStart-3]);
 
-              for (Index j = alignedStart; j<peeledSize; j+=peels*RhsPacketSize)
+              for (; j<peeledSize; j+=peels*RhsPacketSize)
               {
                 RhsPacket b = pload<RhsPacket>(&rhs[j]);
                 A11 = pload<LhsPacket>(&lhs1[j-1+LhsPacketSize]);  palign<1>(A01,A11);
@@ -480,9 +468,10 @@ EIGEN_DONT_INLINE static void run(
                 ptmp3 = pcj.pmadd(A13, b, ptmp3);
               }
             }
-            for (Index j = peeledSize; j<alignedSize; j+=RhsPacketSize)
+            for (; j<alignedSize; j+=RhsPacketSize)
               _EIGEN_ACCUMULATE_PACKETS(d,du,du);
             break;
+          }
           default:
             for (Index j = alignedStart; j<alignedSize; j+=RhsPacketSize)
               _EIGEN_ACCUMULATE_PACKETS(du,du,du);
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/Parallelizer.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/Parallelizer.h
index 725216162..5c3e9b7ac 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/Parallelizer.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/Parallelizer.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_PARALLELIZER_H
 #define EIGEN_PARALLELIZER_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/SelfadjointMatrixMatrix.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/SelfadjointMatrixMatrix.h
index 91ba12081..48209636e 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/SelfadjointMatrixMatrix.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/SelfadjointMatrixMatrix.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SELFADJOINT_MATRIX_MATRIX_H
 #define EIGEN_SELFADJOINT_MATRIX_MATRIX_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/SelfadjointMatrixVector.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/SelfadjointMatrixVector.h
index 7f39ef01a..c3145c69a 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/SelfadjointMatrixVector.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/SelfadjointMatrixVector.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SELFADJOINT_MATRIX_VECTOR_H
 #define EIGEN_SELFADJOINT_MATRIX_VECTOR_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/SelfadjointProduct.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/SelfadjointProduct.h
index a3ff9e3e7..6a55f3d77 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/SelfadjointProduct.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/SelfadjointProduct.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SELFADJOINT_PRODUCT_H
 #define EIGEN_SELFADJOINT_PRODUCT_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/SelfadjointRank2Update.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/SelfadjointRank2Update.h
index 001cfb591..57a98cc2d 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/SelfadjointRank2Update.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/SelfadjointRank2Update.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SELFADJOINTRANK2UPTADE_H
 #define EIGEN_SELFADJOINTRANK2UPTADE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/TriangularMatrixMatrix.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/TriangularMatrixMatrix.h
index 06053bfd9..92cba66f6 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/TriangularMatrixMatrix.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/TriangularMatrixMatrix.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_TRIANGULAR_MATRIX_MATRIX_H
 #define EIGEN_TRIANGULAR_MATRIX_MATRIX_H
@@ -76,7 +61,7 @@ struct product_triangular_matrix_matrix<Scalar,Index,Mode,LhsIsTriangular,
     const Scalar* lhs, Index lhsStride,
     const Scalar* rhs, Index rhsStride,
     Scalar* res,       Index resStride,
-    Scalar alpha)
+    Scalar alpha, level3_blocking<Scalar,Scalar>& blocking)
   {
     product_triangular_matrix_matrix<Scalar, Index,
       (Mode&(UnitDiag|ZeroDiag)) | ((Mode&Upper) ? Lower : Upper),
@@ -86,7 +71,7 @@ struct product_triangular_matrix_matrix<Scalar,Index,Mode,LhsIsTriangular,
       LhsStorageOrder==RowMajor ? ColMajor : RowMajor,
       ConjugateLhs,
       ColMajor>
-      ::run(cols, rows, depth, rhs, rhsStride, lhs, lhsStride, res, resStride, alpha);
+      ::run(cols, rows, depth, rhs, rhsStride, lhs, lhsStride, res, resStride, alpha, blocking);
   }
 };
 
@@ -111,7 +96,7 @@ struct product_triangular_matrix_matrix<Scalar,Index,Mode,true,
     const Scalar* _lhs, Index lhsStride,
     const Scalar* _rhs, Index rhsStride,
     Scalar* res,        Index resStride,
-    Scalar alpha)
+    Scalar alpha, level3_blocking<Scalar,Scalar>& blocking)
   {
     // strip zeros
     Index diagSize  = (std::min)(_rows,_depth);
@@ -122,15 +107,16 @@ struct product_triangular_matrix_matrix<Scalar,Index,Mode,true,
     const_blas_data_mapper<Scalar, Index, LhsStorageOrder> lhs(_lhs,lhsStride);
     const_blas_data_mapper<Scalar, Index, RhsStorageOrder> rhs(_rhs,rhsStride);
 
-    Index kc = depth; // cache block size along the K direction
-    Index mc = rows;  // cache block size along the M direction
-    Index nc = cols;  // cache block size along the N direction
-    computeProductBlockingSizes<Scalar,Scalar,4>(kc, mc, nc);
+    Index kc = blocking.kc();                   // cache block size along the K direction
+    Index mc = (std::min)(rows,blocking.mc());  // cache block size along the M direction
+
+    std::size_t sizeA = kc*mc;
+    std::size_t sizeB = kc*cols;
     std::size_t sizeW = kc*Traits::WorkSpaceFactor;
-    std::size_t sizeB = sizeW + kc*cols;
-    ei_declare_aligned_stack_constructed_variable(Scalar, blockA, kc*mc, 0);
-    ei_declare_aligned_stack_constructed_variable(Scalar, allocatedBlockB, sizeB, 0);    
-    Scalar* blockB = allocatedBlockB + sizeW;
+
+    ei_declare_aligned_stack_constructed_variable(Scalar, blockA, sizeA, blocking.blockA());
+    ei_declare_aligned_stack_constructed_variable(Scalar, blockB, sizeB, blocking.blockB());
+    ei_declare_aligned_stack_constructed_variable(Scalar, blockW, sizeW, blocking.blockW());
 
     Matrix<Scalar,SmallPanelWidth,SmallPanelWidth,LhsStorageOrder> triangularBuffer;
     triangularBuffer.setZero();
@@ -188,7 +174,7 @@ struct product_triangular_matrix_matrix<Scalar,Index,Mode,true,
           pack_lhs(blockA, triangularBuffer.data(), triangularBuffer.outerStride(), actualPanelWidth, actualPanelWidth);
 
           gebp_kernel(res+startBlock, resStride, blockA, blockB, actualPanelWidth, actualPanelWidth, cols, alpha,
-                      actualPanelWidth, actual_kc, 0, blockBOffset);
+                      actualPanelWidth, actual_kc, 0, blockBOffset, blockW);
 
           // GEBP with remaining micro panel
           if (lengthTarget>0)
@@ -198,7 +184,7 @@ struct product_triangular_matrix_matrix<Scalar,Index,Mode,true,
             pack_lhs(blockA, &lhs(startTarget,startBlock), lhsStride, actualPanelWidth, lengthTarget);
 
             gebp_kernel(res+startTarget, resStride, blockA, blockB, lengthTarget, actualPanelWidth, cols, alpha,
-                        actualPanelWidth, actual_kc, 0, blockBOffset);
+                        actualPanelWidth, actual_kc, 0, blockBOffset, blockW);
           }
         }
       }
@@ -212,7 +198,7 @@ struct product_triangular_matrix_matrix<Scalar,Index,Mode,true,
           gemm_pack_lhs<Scalar, Index, Traits::mr,Traits::LhsProgress, LhsStorageOrder,false>()
             (blockA, &lhs(i2, actual_k2), lhsStride, actual_kc, actual_mc);
 
-          gebp_kernel(res+i2, resStride, blockA, blockB, actual_mc, actual_kc, cols, alpha);
+          gebp_kernel(res+i2, resStride, blockA, blockB, actual_mc, actual_kc, cols, alpha, -1, -1, 0, 0, blockW);
         }
       }
     }
@@ -239,7 +225,7 @@ struct product_triangular_matrix_matrix<Scalar,Index,Mode,false,
     const Scalar* _lhs, Index lhsStride,
     const Scalar* _rhs, Index rhsStride,
     Scalar* res,        Index resStride,
-    Scalar alpha)
+    Scalar alpha, level3_blocking<Scalar,Scalar>& blocking)
   {
     // strip zeros
     Index diagSize  = (std::min)(_cols,_depth);
@@ -250,16 +236,16 @@ struct product_triangular_matrix_matrix<Scalar,Index,Mode,false,
     const_blas_data_mapper<Scalar, Index, LhsStorageOrder> lhs(_lhs,lhsStride);
     const_blas_data_mapper<Scalar, Index, RhsStorageOrder> rhs(_rhs,rhsStride);
 
-    Index kc = depth; // cache block size along the K direction
-    Index mc = rows;  // cache block size along the M direction
-    Index nc = cols;  // cache block size along the N direction
-    computeProductBlockingSizes<Scalar,Scalar,4>(kc, mc, nc);
+    Index kc = blocking.kc();                   // cache block size along the K direction
+    Index mc = (std::min)(rows,blocking.mc());  // cache block size along the M direction
 
+    std::size_t sizeA = kc*mc;
+    std::size_t sizeB = kc*cols;
     std::size_t sizeW = kc*Traits::WorkSpaceFactor;
-    std::size_t sizeB = sizeW + kc*cols;
-    ei_declare_aligned_stack_constructed_variable(Scalar, blockA, kc*mc, 0);
-    ei_declare_aligned_stack_constructed_variable(Scalar, allocatedBlockB, sizeB, 0);
-    Scalar* blockB = allocatedBlockB + sizeW;
+
+    ei_declare_aligned_stack_constructed_variable(Scalar, blockA, sizeA, blocking.blockA());
+    ei_declare_aligned_stack_constructed_variable(Scalar, blockB, sizeB, blocking.blockB());
+    ei_declare_aligned_stack_constructed_variable(Scalar, blockW, sizeW, blocking.blockW());
 
     Matrix<Scalar,SmallPanelWidth,SmallPanelWidth,RhsStorageOrder> triangularBuffer;
     triangularBuffer.setZero();
@@ -347,13 +333,13 @@ struct product_triangular_matrix_matrix<Scalar,Index,Mode,false,
                         alpha,
                         actual_kc, actual_kc,  // strides
                         blockOffset, blockOffset,// offsets
-                        allocatedBlockB); // workspace
+                        blockW); // workspace
           }
         }
         gebp_kernel(res+i2+(IsLower ? 0 : k2)*resStride, resStride,
                     blockA, geb, actual_mc, actual_kc, rs,
                     alpha,
-                    -1, -1, 0, 0, allocatedBlockB);
+                    -1, -1, 0, 0, blockW);
       }
     }
   }
@@ -386,17 +372,28 @@ struct TriangularProduct<Mode,LhsIsTriangular,Lhs,false,Rhs,false>
     Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(m_lhs)
                                * RhsBlasTraits::extractScalarFactor(m_rhs);
 
+    typedef internal::gemm_blocking_space<(Dest::Flags&RowMajorBit) ? RowMajor : ColMajor,Scalar,Scalar,
+              Lhs::MaxRowsAtCompileTime, Rhs::MaxColsAtCompileTime, Lhs::MaxColsAtCompileTime,4> BlockingType;
+
+    enum { IsLower = (Mode&Lower) == Lower };
+    Index stripedRows  = ((!LhsIsTriangular) || (IsLower))  ? lhs.rows() : (std::min)(lhs.rows(),lhs.cols());
+    Index stripedCols  = ((LhsIsTriangular)  || (!IsLower)) ? rhs.cols() : (std::min)(rhs.cols(),rhs.rows());
+    Index stripedDepth = LhsIsTriangular ? ((!IsLower) ? lhs.cols() : (std::min)(lhs.cols(),lhs.rows()))
+                                         : ((IsLower)  ? rhs.rows() : (std::min)(rhs.rows(),rhs.cols()));
+
+    BlockingType blocking(stripedRows, stripedCols, stripedDepth);
+
     internal::product_triangular_matrix_matrix<Scalar, Index,
       Mode, LhsIsTriangular,
       (internal::traits<_ActualLhsType>::Flags&RowMajorBit) ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
       (internal::traits<_ActualRhsType>::Flags&RowMajorBit) ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
       (internal::traits<Dest          >::Flags&RowMajorBit) ? RowMajor : ColMajor>
       ::run(
-        lhs.rows(), rhs.cols(), lhs.cols(),// LhsIsTriangular ? rhs.cols() : lhs.rows(),           // sizes
+        stripedRows, stripedCols, stripedDepth,   // sizes
         &lhs.coeffRef(0,0),    lhs.outerStride(), // lhs info
         &rhs.coeffRef(0,0),    rhs.outerStride(), // rhs info
-        &dst.coeffRef(0,0), dst.outerStride(), // result info
-        actualAlpha                            // alpha
+        &dst.coeffRef(0,0), dst.outerStride(),    // result info
+        actualAlpha, blocking
       );
   }
 };
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/TriangularMatrixMatrix_MKL.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/TriangularMatrixMatrix_MKL.h
index 8173da5bb..4d20de617 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/TriangularMatrixMatrix_MKL.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/TriangularMatrixMatrix_MKL.h
@@ -57,11 +57,11 @@ template <typename Index, int Mode, \
 struct product_triangular_matrix_matrix<Scalar,Index, Mode, LhsIsTriangular, \
            LhsStorageOrder,ConjugateLhs, RhsStorageOrder,ConjugateRhs,ColMajor,Specialized> { \
   static inline void run(Index _rows, Index _cols, Index _depth, const Scalar* _lhs, Index lhsStride,\
-    const Scalar* _rhs, Index rhsStride, Scalar* res, Index resStride, Scalar alpha) { \
+    const Scalar* _rhs, Index rhsStride, Scalar* res, Index resStride, Scalar alpha, level3_blocking<Scalar,Scalar>& blocking) { \
       product_triangular_matrix_matrix_trmm<Scalar,Index,Mode, \
         LhsIsTriangular,LhsStorageOrder,ConjugateLhs, \
         RhsStorageOrder, ConjugateRhs, ColMajor>::run( \
-        _rows, _cols, _depth, _lhs, lhsStride, _rhs, rhsStride, res, resStride, alpha); \
+        _rows, _cols, _depth, _lhs, lhsStride, _rhs, rhsStride, res, resStride, alpha, blocking); \
   } \
 };
 
@@ -96,7 +96,7 @@ struct product_triangular_matrix_matrix_trmm<EIGTYPE,Index,Mode,true, \
     const EIGTYPE* _lhs, Index lhsStride, \
     const EIGTYPE* _rhs, Index rhsStride, \
     EIGTYPE* res,        Index resStride, \
-    EIGTYPE alpha) \
+    EIGTYPE alpha, level3_blocking<EIGTYPE,EIGTYPE>& blocking) \
   { \
    Index diagSize  = (std::min)(_rows,_depth); \
    Index rows      = IsLower ? _rows : diagSize; \
@@ -115,16 +115,16 @@ struct product_triangular_matrix_matrix_trmm<EIGTYPE,Index,Mode,true, \
      /* Most likely no benefit to call TRMM or GEMM from MKL*/ \
        product_triangular_matrix_matrix<EIGTYPE,Index,Mode,true, \
        LhsStorageOrder,ConjugateLhs, RhsStorageOrder, ConjugateRhs, ColMajor, BuiltIn>::run( \
-           _rows, _cols, _depth, _lhs, lhsStride, _rhs, rhsStride, res, resStride, alpha); \
+           _rows, _cols, _depth, _lhs, lhsStride, _rhs, rhsStride, res, resStride, alpha, blocking); \
      /*std::cout << "TRMM_L: A is not square! Go to Eigen TRMM implementation!\n";*/ \
      } else { \
      /* Make sense to call GEMM */ \
        Map<const MatrixLhs, 0, OuterStride<> > lhsMap(_lhs,rows,depth,OuterStride<>(lhsStride)); \
        MatrixLhs aa_tmp=lhsMap.template triangularView<Mode>(); \
        MKL_INT aStride = aa_tmp.outerStride(); \
-       gemm_blocking_space<ColMajor,EIGTYPE,EIGTYPE,Dynamic,Dynamic,Dynamic> blocking(_rows,_cols,_depth); \
+       gemm_blocking_space<ColMajor,EIGTYPE,EIGTYPE,Dynamic,Dynamic,Dynamic> gemm_blocking(_rows,_cols,_depth); \
        general_matrix_matrix_product<Index,EIGTYPE,LhsStorageOrder,ConjugateLhs,EIGTYPE,RhsStorageOrder,ConjugateRhs,ColMajor>::run( \
-       rows, cols, depth, aa_tmp.data(), aStride, _rhs, rhsStride, res, resStride, alpha, blocking, 0); \
+       rows, cols, depth, aa_tmp.data(), aStride, _rhs, rhsStride, res, resStride, alpha, gemm_blocking, 0); \
 \
      /*std::cout << "TRMM_L: A is not square! Go to MKL GEMM implementation! " << nthr<<" \n";*/ \
      } \
@@ -210,7 +210,7 @@ struct product_triangular_matrix_matrix_trmm<EIGTYPE,Index,Mode,false, \
     const EIGTYPE* _lhs, Index lhsStride, \
     const EIGTYPE* _rhs, Index rhsStride, \
     EIGTYPE* res,        Index resStride, \
-    EIGTYPE alpha) \
+    EIGTYPE alpha, level3_blocking<EIGTYPE,EIGTYPE>& blocking) \
   { \
    Index diagSize  = (std::min)(_cols,_depth); \
    Index rows      = _rows; \
@@ -229,16 +229,16 @@ struct product_triangular_matrix_matrix_trmm<EIGTYPE,Index,Mode,false, \
      /* Most likely no benefit to call TRMM or GEMM from MKL*/ \
        product_triangular_matrix_matrix<EIGTYPE,Index,Mode,false, \
        LhsStorageOrder,ConjugateLhs, RhsStorageOrder, ConjugateRhs, ColMajor, BuiltIn>::run( \
-           _rows, _cols, _depth, _lhs, lhsStride, _rhs, rhsStride, res, resStride, alpha); \
+           _rows, _cols, _depth, _lhs, lhsStride, _rhs, rhsStride, res, resStride, alpha, blocking); \
        /*std::cout << "TRMM_R: A is not square! Go to Eigen TRMM implementation!\n";*/ \
      } else { \
      /* Make sense to call GEMM */ \
        Map<const MatrixRhs, 0, OuterStride<> > rhsMap(_rhs,depth,cols, OuterStride<>(rhsStride)); \
        MatrixRhs aa_tmp=rhsMap.template triangularView<Mode>(); \
        MKL_INT aStride = aa_tmp.outerStride(); \
-       gemm_blocking_space<ColMajor,EIGTYPE,EIGTYPE,Dynamic,Dynamic,Dynamic> blocking(_rows,_cols,_depth); \
+       gemm_blocking_space<ColMajor,EIGTYPE,EIGTYPE,Dynamic,Dynamic,Dynamic> gemm_blocking(_rows,_cols,_depth); \
        general_matrix_matrix_product<Index,EIGTYPE,LhsStorageOrder,ConjugateLhs,EIGTYPE,RhsStorageOrder,ConjugateRhs,ColMajor>::run( \
-       rows, cols, depth, _lhs, lhsStride, aa_tmp.data(), aStride, res, resStride, alpha, blocking, 0); \
+       rows, cols, depth, _lhs, lhsStride, aa_tmp.data(), aStride, res, resStride, alpha, gemm_blocking, 0); \
 \
      /*std::cout << "TRMM_R: A is not square! Go to MKL GEMM implementation! " << nthr<<" \n";*/ \
      } \
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/TriangularMatrixVector.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/TriangularMatrixVector.h
index e1dc0c23e..b1c10c201 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/TriangularMatrixVector.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/TriangularMatrixVector.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_TRIANGULARMATRIXVECTOR_H
 #define EIGEN_TRIANGULARMATRIXVECTOR_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/TriangularSolverMatrix.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/TriangularSolverMatrix.h
index 0dd94638b..a49ea3183 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/TriangularSolverMatrix.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/TriangularSolverMatrix.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_TRIANGULAR_SOLVER_MATRIX_H
 #define EIGEN_TRIANGULAR_SOLVER_MATRIX_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/TriangularSolverVector.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/TriangularSolverVector.h
index f83a81061..ce4d10088 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/products/TriangularSolverVector.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/products/TriangularSolverVector.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_TRIANGULAR_SOLVER_VECTOR_H
 #define EIGEN_TRIANGULAR_SOLVER_VECTOR_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/BlasUtil.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/BlasUtil.h
index fc798244a..91496651c 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/BlasUtil.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/BlasUtil.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_BLASUTIL_H
 #define EIGEN_BLASUTIL_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Constants.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Constants.h
index f34aac85a..3fd45e84f 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Constants.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Constants.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2007-2009 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_CONSTANTS_H
 #define EIGEN_CONSTANTS_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/ForwardDeclarations.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/ForwardDeclarations.h
index e5303f052..bcdfe3914 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/ForwardDeclarations.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/ForwardDeclarations.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2007-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_FORWARDDECLARATIONS_H
 #define EIGEN_FORWARDDECLARATIONS_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Macros.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Macros.h
index b361a05d4..31436fe79 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Macros.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Macros.h
@@ -4,31 +4,16 @@
 // Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_MACROS_H
 #define EIGEN_MACROS_H
 
 #define EIGEN_WORLD_VERSION 3
 #define EIGEN_MAJOR_VERSION 1
-#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 && \
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Memory.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Memory.h
index 56a16b5cb..69148703e 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Memory.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Memory.h
@@ -7,24 +7,9 @@
 // Copyright (C) 2010 Hauke Heibel <hauke.heibel@gmail.com>
 // Copyright (C) 2010 Thomas Capricelli <orzel@freehackers.org>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 
 /*****************************************************************************
@@ -219,7 +204,7 @@ inline void* aligned_malloc(size_t size)
     if(posix_memalign(&result, 16, size)) result = 0;
   #elif EIGEN_HAS_MM_MALLOC
     result = _mm_malloc(size, 16);
-  #elif (defined _MSC_VER)
+#elif defined(_MSC_VER) && (!defined(_WIN32_WCE))
     result = _aligned_malloc(size, 16);
   #else
     result = handmade_aligned_malloc(size);
@@ -760,7 +745,7 @@ public:
          __asm__ __volatile__ ("cpuid": "=a" (abcd[0]), "=b" (abcd[1]), "=c" (abcd[2]), "=d" (abcd[3]) : "a" (func), "c" (id) );
 #    endif
 #  elif defined(_MSC_VER)
-#    if (_MSC_VER > 1500)
+#    if (_MSC_VER > 1500) && ( defined(_M_IX86) || defined(_M_X64) )
 #      define EIGEN_CPUID(abcd,func,id) __cpuidex((int*)abcd,func,id)
 #    endif
 #  endif
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Meta.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Meta.h
index 82c93f922..a5f31164d 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Meta.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Meta.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_META_H
 #define EIGEN_META_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/NonMPL2.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/NonMPL2.h
new file mode 100644
index 000000000..1af67cf18
--- /dev/null
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/NonMPL2.h
@@ -0,0 +1,3 @@
+#ifdef EIGEN_MPL2_ONLY
+#error Including non-MPL2 code in EIGEN_MPL2_ONLY mode
+#endif
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/StaticAssert.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/StaticAssert.h
index 9a5dbbbf3..b46a75b37 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/StaticAssert.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/StaticAssert.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_STATIC_ASSERT_H
 #define EIGEN_STATIC_ASSERT_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/XprHelper.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/XprHelper.h
index 5bb0a624f..e6f8aaef8 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/XprHelper.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/XprHelper.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_XPRHELPER_H
 #define EIGEN_XPRHELPER_H
@@ -316,9 +301,9 @@ template<typename T, int n=1, typename PlainObject = typename eval<T>::type> str
     // it's important that this value can still be squared without integer overflowing.
     DynamicAsInteger = 10000,
     ScalarReadCost = NumTraits<typename traits<T>::Scalar>::ReadCost,
-    ScalarReadCostAsInteger = ScalarReadCost == Dynamic ? DynamicAsInteger : ScalarReadCost,
+    ScalarReadCostAsInteger = ScalarReadCost == Dynamic ? int(DynamicAsInteger) : int(ScalarReadCost),
     CoeffReadCost = traits<T>::CoeffReadCost,
-    CoeffReadCostAsInteger = CoeffReadCost == Dynamic ? DynamicAsInteger : CoeffReadCost,
+    CoeffReadCostAsInteger = CoeffReadCost == Dynamic ? int(DynamicAsInteger) : int(CoeffReadCost),
     NAsInteger = n == Dynamic ? int(DynamicAsInteger) : n,
     CostEvalAsInteger   = (NAsInteger+1) * ScalarReadCostAsInteger + CoeffReadCostAsInteger,
     CostNoEvalAsInteger = NAsInteger * CoeffReadCostAsInteger
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Block.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Block.h
index d77ff62bb..604456f40 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Block.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Block.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_BLOCK2_H
 #define EIGEN_BLOCK2_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Cwise.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Cwise.h
index 383645b8e..d95009b6e 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Cwise.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Cwise.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_CWISE_H
 #define EIGEN_CWISE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/CwiseOperators.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/CwiseOperators.h
index 207a167c1..482f30648 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/CwiseOperators.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/CwiseOperators.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_ARRAY_CWISE_OPERATORS_H
 #define EIGEN_ARRAY_CWISE_OPERATORS_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/AlignedBox.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/AlignedBox.h
index dd29dfc34..5c928e8fc 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/AlignedBox.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/AlignedBox.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 // no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
 
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/AngleAxis.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/AngleAxis.h
index 2a3cce4e7..20f1fceeb 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/AngleAxis.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/AngleAxis.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 // no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
 
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/Hyperplane.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/Hyperplane.h
index 8b4f7a080..19cc1bfd8 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/Hyperplane.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/Hyperplane.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 // Copyright (C) 2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 // no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
 
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/ParametrizedLine.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/ParametrizedLine.h
index cc8eb7089..6e4a168a8 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/ParametrizedLine.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/ParametrizedLine.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 // Copyright (C) 2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 // no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
 
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/Quaternion.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/Quaternion.h
index 616671c67..ec87da054 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/Quaternion.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/Quaternion.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 // no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
 
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/Rotation2D.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/Rotation2D.h
index 0993fa5bb..3e02b7a4f 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/Rotation2D.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/Rotation2D.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 // no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
 
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/RotationBase.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/RotationBase.h
index b65abfe0d..78ad73b60 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/RotationBase.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/RotationBase.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 // no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
 
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/Scaling.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/Scaling.h
index 8e47c78fe..a07c1c7c7 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/Scaling.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/Scaling.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 // no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
 
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/Transform.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/Transform.h
index 28dcc03b7..dceb80203 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/Transform.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/Transform.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 // Copyright (C) 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 // no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
 
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/Translation.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/Translation.h
index dd6256893..0fb9a9f9a 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/Translation.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Geometry/Translation.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 // no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
 
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/LU.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/LU.h
index 0620096af..49f19ad76 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/LU.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/LU.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2011 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN2_LU_H
 #define EIGEN2_LU_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Lazy.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Lazy.h
index a1fb9c753..593fc78e6 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Lazy.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Lazy.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_LAZY_H
 #define EIGEN_LAZY_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/LeastSquares.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/LeastSquares.h
index 427118949..7aff428dc 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/LeastSquares.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/LeastSquares.h
@@ -3,24 +3,9 @@
 //
 // 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN2_LEASTSQUARES_H
 #define EIGEN2_LEASTSQUARES_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Macros.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Macros.h
index 77e85a41e..351c32afb 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Macros.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Macros.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2011 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN2_MACROS_H
 #define EIGEN2_MACROS_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/MathFunctions.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/MathFunctions.h
index 2baf4bb8f..3a8a9ca81 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/MathFunctions.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/MathFunctions.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN2_MATH_FUNCTIONS_H
 #define EIGEN2_MATH_FUNCTIONS_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Memory.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Memory.h
index 0588e2b34..f86372b6b 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Memory.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Memory.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2011 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN2_MEMORY_H
 #define EIGEN2_MEMORY_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Meta.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Meta.h
index 70c210822..fa37cfc96 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Meta.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Meta.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2011 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN2_META_H
 #define EIGEN2_META_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Minor.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Minor.h
index 964e9546d..4cded5734 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Minor.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/Minor.h
@@ -3,24 +3,9 @@
 //
 // 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_MINOR_H
 #define EIGEN_MINOR_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/QR.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/QR.h
index 60fc21f56..2042c9851 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/QR.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/QR.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 // Copyright (C) 2011 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN2_QR_H
 #define EIGEN2_QR_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/SVD.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/SVD.h
index ff3b8a416..3d2eeb445 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/SVD.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/SVD.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN2_SVD_H
 #define EIGEN2_SVD_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/TriangularSolver.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/TriangularSolver.h
index e3374d8c0..ebbeb3b49 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/TriangularSolver.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/TriangularSolver.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_TRIANGULAR_SOLVER2_H
 #define EIGEN_TRIANGULAR_SOLVER2_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/VectorBlock.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/VectorBlock.h
index 8967c9019..71a8080a9 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/VectorBlock.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigen2Support/VectorBlock.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN2_VECTORBLOCK_H
 #define EIGEN2_VECTORBLOCK_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/ComplexEigenSolver.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/ComplexEigenSolver.h
index 327c3f3ea..c4b8a308c 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/ComplexEigenSolver.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/ComplexEigenSolver.h
@@ -5,24 +5,9 @@
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_COMPLEX_EIGEN_SOLVER_H
 #define EIGEN_COMPLEX_EIGEN_SOLVER_H
@@ -324,7 +309,7 @@ void ComplexEigenSolver<MatrixType>::sortEigenvalues(bool computeEigenvectors)
       k += i;
       std::swap(m_eivalues[k],m_eivalues[i]);
       if(computeEigenvectors)
-  m_eivec.col(i).swap(m_eivec.col(k));
+	m_eivec.col(i).swap(m_eivec.col(k));
     }
   }
 }
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/ComplexSchur.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/ComplexSchur.h
index 1a49cca13..55aeedb90 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/ComplexSchur.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/ComplexSchur.h
@@ -5,24 +5,9 @@
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_COMPLEX_SCHUR_H
 #define EIGEN_COMPLEX_SCHUR_H
@@ -351,6 +336,7 @@ void ComplexSchur<MatrixType>::reduceToTriangularForm(bool computeU)
   Index iu = m_matT.cols() - 1;
   Index il;
   Index iter = 0; // number of iterations we are working on the (iu,iu) element
+  Index totalIter = 0; // number of iterations for whole matrix
 
   while(true)
   {
@@ -365,9 +351,10 @@ void ComplexSchur<MatrixType>::reduceToTriangularForm(bool computeU)
     // if iu is zero then we are done; the whole matrix is triangularized
     if(iu==0) break;
 
-    // if we spent too many iterations on the current element, we give up
+    // if we spent too many iterations, we give up
     iter++;
-    if(iter > m_maxIterations) break;
+    totalIter++;
+    if(totalIter > m_maxIterations * m_matT.cols()) break;
 
     // find il, the top row of the active submatrix
     il = iu-1;
@@ -397,7 +384,7 @@ void ComplexSchur<MatrixType>::reduceToTriangularForm(bool computeU)
     }
   }
 
-  if(iter <= m_maxIterations) 
+  if(totalIter <= m_maxIterations * m_matT.cols())
     m_info = Success;
   else
     m_info = NoConvergence;
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/ComplexSchur_MKL.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/ComplexSchur_MKL.h
index e21a8d836..ada7a24e3 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/ComplexSchur_MKL.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/ComplexSchur_MKL.h
@@ -40,7 +40,7 @@ namespace Eigen {
 /** \internal Specialization for the data types supported by MKL */
 
 #define EIGEN_MKL_SCHUR_COMPLEX(EIGTYPE, MKLTYPE, MKLPREFIX, MKLPREFIX_U, EIGCOLROW, MKLCOLROW) \
-template<> \
+template<> inline \
 ComplexSchur<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >& \
 ComplexSchur<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >::compute(const Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW>& matrix, bool computeU) \
 { \
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/EigenSolver.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/EigenSolver.h
index 95d5dcdcb..c16ff2b74 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/EigenSolver.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/EigenSolver.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_EIGENSOLVER_H
 #define EIGEN_EIGENSOLVER_H
@@ -547,7 +532,7 @@ void EigenSolver<MatrixType>::doComputeEigenvectors()
             if ((vr == 0.0) && (vi == 0.0))
               vr = eps * norm * (internal::abs(w) + internal::abs(q) + internal::abs(x) + internal::abs(y) + internal::abs(lastw));
 
-      std::complex<Scalar> cc = cdiv(x*lastra-lastw*ra+q*sa,x*lastsa-lastw*sa-q*ra,vr,vi);
+	    std::complex<Scalar> cc = cdiv(x*lastra-lastw*ra+q*sa,x*lastsa-lastw*sa-q*ra,vr,vi);
             m_matT.coeffRef(i,n-1) = internal::real(cc);
             m_matT.coeffRef(i,n) = internal::imag(cc);
             if (internal::abs(x) > (internal::abs(lastw) + internal::abs(q)))
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h
index 4eb2b229d..07bf1ea09 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_GENERALIZEDSELFADJOINTEIGENSOLVER_H
 #define EIGEN_GENERALIZEDSELFADJOINTEIGENSOLVER_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/HessenbergDecomposition.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/HessenbergDecomposition.h
index 4fce56f65..b8378b08a 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/HessenbergDecomposition.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/HessenbergDecomposition.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_HESSENBERGDECOMPOSITION_H
 #define EIGEN_HESSENBERGDECOMPOSITION_H
@@ -197,8 +182,8 @@ template<typename _MatrixType> class HessenbergDecomposition
 
     /** \brief Returns the internal representation of the decomposition
       *
-      *  \returns a const reference to a matrix with the internal representation
-      *           of the decomposition.
+      *	\returns a const reference to a matrix with the internal representation
+      *	         of the decomposition.
       *
       * \pre Either the constructor HessenbergDecomposition(const MatrixType&)
       * or the member function compute(const MatrixType&) has been called
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h
index bd0f6d93f..6af481c75 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_MATRIXBASEEIGENVALUES_H
 #define EIGEN_MATRIXBASEEIGENVALUES_H
@@ -141,10 +126,10 @@ MatrixBase<Derived>::operatorNorm() const
   // then we don't need to compute a maxCoeff() here, comparing the 1st and last ones is enough.
   return internal::sqrt((m_eval*m_eval.adjoint())
                  .eval()
-     .template selfadjointView<Lower>()
-     .eigenvalues()
-     .maxCoeff()
-     );
+		 .template selfadjointView<Lower>()
+		 .eigenvalues()
+		 .maxCoeff()
+		 );
 }
 
 /** \brief Computes the L2 operator norm
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/RealSchur.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/RealSchur.h
index e204344e0..d1949b83c 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/RealSchur.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/RealSchur.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_REAL_SCHUR_H
 #define EIGEN_REAL_SCHUR_H
@@ -235,8 +220,9 @@ RealSchur<MatrixType>& RealSchur<MatrixType>::compute(const MatrixType& matrix,
   // Rows il,...,iu is the part we are working on (the active window).
   // Rows iu+1,...,end are already brought in triangular form.
   Index iu = m_matT.cols() - 1;
-  Index iter = 0; // iteration count
-  Scalar exshift(0); // sum of exceptional shifts
+  Index iter = 0;      // iteration count for current eigenvalue
+  Index totalIter = 0; // iteration count for whole matrix
+  Scalar exshift(0);   // sum of exceptional shifts
   Scalar norm = computeNormOfT();
 
   if(norm!=0)
@@ -266,14 +252,15 @@ RealSchur<MatrixType>& RealSchur<MatrixType>::compute(const MatrixType& matrix,
         Vector3s firstHouseholderVector(0,0,0), shiftInfo;
         computeShift(iu, iter, exshift, shiftInfo);
         iter = iter + 1;
-        if (iter > m_maxIterations) break;
+        totalIter = totalIter + 1;
+        if (totalIter > m_maxIterations * matrix.cols()) break;
         Index im;
         initFrancisQRStep(il, iu, shiftInfo, im, firstHouseholderVector);
         performFrancisQRStep(il, im, iu, computeU, firstHouseholderVector, workspace);
       }
     }
   }
-  if(iter <= m_maxIterations) 
+  if(totalIter <= m_maxIterations * matrix.cols()) 
     m_info = Success;
   else
     m_info = NoConvergence;
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/RealSchur_MKL.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/RealSchur_MKL.h
index c9689520b..960ec3c76 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/RealSchur_MKL.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/RealSchur_MKL.h
@@ -40,7 +40,7 @@ namespace Eigen {
 /** \internal Specialization for the data types supported by MKL */
 
 #define EIGEN_MKL_SCHUR_REAL(EIGTYPE, MKLTYPE, MKLPREFIX, MKLPREFIX_U, EIGCOLROW, MKLCOLROW) \
-template<> \
+template<> inline \
 RealSchur<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >& \
 RealSchur<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >::compute(const Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW>& matrix, bool computeU) \
 { \
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
index b4aa1ef20..24c78b4b2 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SELFADJOINTEIGENSOLVER_H
 #define EIGEN_SELFADJOINTEIGENSOLVER_H
@@ -751,15 +736,24 @@ namespace internal {
 template<int StorageOrder,typename RealScalar, typename Scalar, typename Index>
 static void tridiagonal_qr_step(RealScalar* diag, RealScalar* subdiag, Index start, Index end, Scalar* matrixQ, Index n)
 {
-  // NOTE this version avoids over & underflow, however since the matrix is prescaled, overflow cannot occur,
-  // and underflows should be meaningless anyway. So I don't any reason to enable this version, but I keep
-  // it here for reference:
-//   RealScalar td = (diag[end-1] - diag[end])*RealScalar(0.5);
-//   RealScalar e = subdiag[end-1];
-//   RealScalar mu = diag[end] - (e / (td + (td>0 ? 1 : -1))) * (e / hypot(td,e));
   RealScalar td = (diag[end-1] - diag[end])*RealScalar(0.5);
-  RealScalar e2 = abs2(subdiag[end-1]);
-  RealScalar mu = diag[end] - e2 / (td + (td>0 ? 1 : -1) * sqrt(td*td + e2));
+  RealScalar e = subdiag[end-1];
+  // Note that thanks to scaling, e^2 or td^2 cannot overflow, however they can still
+  // underflow thus leading to inf/NaN values when using the following commented code:
+//   RealScalar e2 = abs2(subdiag[end-1]);
+//   RealScalar mu = diag[end] - e2 / (td + (td>0 ? 1 : -1) * sqrt(td*td + e2));
+  // This explain the following, somewhat more complicated, version:
+  RealScalar mu = diag[end];
+  if(td==0)
+    mu -= abs(e);
+  else
+  {
+    RealScalar e2 = abs2(subdiag[end-1]);
+    RealScalar h = hypot(td,e);
+    if(e2==0)  mu -= (e / (td + (td>0 ? 1 : -1))) * (e / h);
+    else       mu -= e2 / (td + (td>0 ? h : -h));
+  }
+  
   RealScalar x = diag[start] - mu;
   RealScalar z = subdiag[start];
   for (Index k = start; k < end; ++k)
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_MKL.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_MKL.h
index 5ebcd08e1..5de5f15d6 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_MKL.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_MKL.h
@@ -40,7 +40,7 @@ namespace Eigen {
 /** \internal Specialization for the data types supported by MKL */
 
 #define EIGEN_MKL_EIG_SELFADJ(EIGTYPE, MKLTYPE, MKLRTYPE, MKLNAME, EIGCOLROW, MKLCOLROW ) \
-template<> \
+template<> inline \
 SelfAdjointEigenSolver<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >& \
 SelfAdjointEigenSolver<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >::compute(const Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW>& matrix, int options) \
 { \
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/Tridiagonalization.h b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/Tridiagonalization.h
index 5b03a4a52..c34b7b3b8 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/Tridiagonalization.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Eigenvalues/Tridiagonalization.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_TRIDIAGONALIZATION_H
 #define EIGEN_TRIDIAGONALIZATION_H
@@ -200,8 +185,8 @@ template<typename _MatrixType> class Tridiagonalization
 
     /** \brief Returns the internal representation of the decomposition
       *
-      *  \returns a const reference to a matrix with the internal representation
-      *           of the decomposition.
+      *	\returns a const reference to a matrix with the internal representation
+      *	         of the decomposition.
       *
       * \pre Either the constructor Tridiagonalization(const MatrixType&) or
       * the member function compute(const MatrixType&) has been called before
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/AlignedBox.h b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/AlignedBox.h
index 2cb894330..c0f97300c 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/AlignedBox.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/AlignedBox.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_ALIGNEDBOX_H
 #define EIGEN_ALIGNEDBOX_H
@@ -94,7 +79,7 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
   ~AlignedBox() {}
 
   /** \returns the dimension in which the box holds */
-  inline Index dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size()-1 : Index(AmbientDimAtCompileTime); }
+  inline Index dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size() : Index(AmbientDimAtCompileTime); }
 
   /** \deprecated use isEmpty */
   inline bool isNull() const { return isEmpty(); }
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/AngleAxis.h b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/AngleAxis.h
index f0e3ff2b3..67197ac78 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/AngleAxis.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/AngleAxis.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_ANGLEAXIS_H
 #define EIGEN_ANGLEAXIS_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/EulerAngles.h b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/EulerAngles.h
index 0ce7f957d..e424d2406 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/EulerAngles.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/EulerAngles.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_EULERANGLES_H
 #define EIGEN_EULERANGLES_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Homogeneous.h b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Homogeneous.h
index 0c4cda01d..df03feb55 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Homogeneous.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Homogeneous.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_HOMOGENEOUS_H
 #define EIGEN_HOMOGENEOUS_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Hyperplane.h b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Hyperplane.h
index 6abf1664d..1b7c7c78c 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Hyperplane.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Hyperplane.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_HYPERPLANE_H
 #define EIGEN_HYPERPLANE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/OrthoMethods.h b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/OrthoMethods.h
index 0a8a81dd1..11ad5829c 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/OrthoMethods.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/OrthoMethods.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_ORTHOMETHODS_H
 #define EIGEN_ORTHOMETHODS_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/ParametrizedLine.h b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/ParametrizedLine.h
index ddbda83dc..719a90441 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/ParametrizedLine.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/ParametrizedLine.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_PARAMETRIZEDLINE_H
 #define EIGEN_PARAMETRIZEDLINE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Quaternion.h b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Quaternion.h
index 99f069801..8792e2da2 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Quaternion.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Quaternion.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2009 Mathieu Gautier <mathieu.gautier@cea.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_QUATERNION_H
 #define EIGEN_QUATERNION_H
@@ -179,7 +164,7 @@ public:
   bool isApprox(const QuaternionBase<OtherDerived>& other, RealScalar prec = NumTraits<Scalar>::dummy_precision()) const
   { return coeffs().isApprox(other.coeffs(), prec); }
 
-  /** return the result vector of \a v through the rotation*/
+	/** return the result vector of \a v through the rotation*/
   EIGEN_STRONG_INLINE Vector3 _transformVector(Vector3 v) const;
 
   /** \returns \c *this with scalar type casted to \a NewScalarType
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Rotation2D.h b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Rotation2D.h
index 4339e0f0f..868e2ef31 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Rotation2D.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Rotation2D.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_ROTATION2D_H
 #define EIGEN_ROTATION2D_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/RotationBase.h b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/RotationBase.h
index 0b8fb0a52..b88661de6 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/RotationBase.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/RotationBase.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_ROTATIONBASE_H
 #define EIGEN_ROTATIONBASE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Scaling.h b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Scaling.h
index 080f33794..8edcac31c 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Scaling.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Scaling.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SCALING_H
 #define EIGEN_SCALING_H
@@ -75,7 +60,12 @@ public:
 
   /** Concatenates a uniform scaling and an affine transformation */
   template<int Dim, int Mode, int Options>
-  inline Transform<Scalar,Dim,Mode> operator* (const Transform<Scalar,Dim, Mode, Options>& t) const;
+  inline Transform<Scalar,Dim,(int(Mode)==int(Isometry)?Affine:Mode)> operator* (const Transform<Scalar,Dim, Mode, Options>& t) const
+  {
+   Transform<Scalar,Dim,(int(Mode)==int(Isometry)?Affine:Mode)> res = t;
+   res.prescale(factor());
+   return res;
+}
 
   /** Concatenates a uniform scaling and a linear transformation matrix */
   // TODO returns an expression
@@ -171,16 +161,6 @@ UniformScaling<Scalar>::operator* (const Translation<Scalar,Dim>& t) const
   return res;
 }
 
-template<typename Scalar>
-template<int Dim,int Mode,int Options>
-inline Transform<Scalar,Dim,Mode>
-UniformScaling<Scalar>::operator* (const Transform<Scalar,Dim, Mode, Options>& t) const
-{
-  Transform<Scalar,Dim,Mode> res = t;
-  res.prescale(factor());
-  return res;
-}
-
 } // end namespace Eigen
 
 #endif // EIGEN_SCALING_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Transform.h b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Transform.h
index e81305ccc..4c1ef8eaa 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Transform.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Transform.h
@@ -5,24 +5,9 @@
 // Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
 // Copyright (C) 2010 Hauke Heibel <hauke.heibel@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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_TRANSFORM_H
 #define EIGEN_TRANSFORM_H
@@ -545,7 +530,12 @@ public:
 
   inline Transform& operator=(const UniformScaling<Scalar>& t);
   inline Transform& operator*=(const UniformScaling<Scalar>& s) { return scale(s.factor()); }
-  inline Transform operator*(const UniformScaling<Scalar>& s) const;
+  inline Transform<Scalar,Dim,(int(Mode)==int(Isometry)?Affine:Isometry)> operator*(const UniformScaling<Scalar>& s) const
+  {
+    Transform<Scalar,Dim,(int(Mode)==int(Isometry)?Affine:Isometry),Options> res = *this;
+    res.scale(s.factor());
+    return res;
+  }
 
   inline Transform& operator*=(const DiagonalMatrix<Scalar,Dim>& s) { linear() *= s; return *this; }
 
@@ -604,7 +594,7 @@ public:
     if(int(Mode)!=int(AffineCompact))
     {
       matrix().template block<1,Dim>(Dim,0).setZero();
-      matrix().coeffRef(Dim,Dim) = 1;
+      matrix().coeffRef(Dim,Dim) = Scalar(1);
     }
   }
 
@@ -973,14 +963,6 @@ inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::o
   return *this;
 }
 
-template<typename Scalar, int Dim, int Mode, int Options>
-inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::operator*(const UniformScaling<Scalar>& s) const
-{
-  Transform res = *this;
-  res.scale(s.factor());
-  return res;
-}
-
 template<typename Scalar, int Dim, int Mode, int Options>
 template<typename Derived>
 inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const RotationBase<Derived,Dim>& r)
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Translation.h b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Translation.h
index 8d77a3d23..7fda179cc 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Translation.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Translation.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_TRANSLATION_H
 #define EIGEN_TRANSLATION_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Umeyama.h b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Umeyama.h
index 4d4cc3632..ac0939cde 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Umeyama.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Umeyama.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Hauke Heibel <hauke.heibel@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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_UMEYAMA_H
 #define EIGEN_UMEYAMA_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/arch/Geometry_SSE.h b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/arch/Geometry_SSE.h
index 08d0f600a..3d8284f2d 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/arch/Geometry_SSE.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/arch/Geometry_SSE.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2009 Rohit Garg <rpg.314@gmail.com>
 // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_GEOMETRY_SSE_H
 #define EIGEN_GEOMETRY_SSE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Householder/BlockHouseholder.h b/gtsam/3rdparty/Eigen/Eigen/src/Householder/BlockHouseholder.h
index b69fd46d5..1991c6527 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Householder/BlockHouseholder.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Householder/BlockHouseholder.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2010 Vincent Lejeune
 // Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_BLOCK_HOUSEHOLDER_H
 #define EIGEN_BLOCK_HOUSEHOLDER_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Householder/Householder.h b/gtsam/3rdparty/Eigen/Eigen/src/Householder/Householder.h
index 9fcd2fc8f..3f64b7dde 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Householder/Householder.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Householder/Householder.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2010 Benoit Jacob <jacob.benoit.1@gmail.com>
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_HOUSEHOLDER_H
 #define EIGEN_HOUSEHOLDER_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Householder/HouseholderSequence.h b/gtsam/3rdparty/Eigen/Eigen/src/Householder/HouseholderSequence.h
index 1cb461b48..1e71e16a7 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Householder/HouseholderSequence.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Householder/HouseholderSequence.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2010 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_HOUSEHOLDER_SEQUENCE_H
 #define EIGEN_HOUSEHOLDER_SEQUENCE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h b/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h
index c9fe9c618..73ca9bfde 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2011 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_BASIC_PRECONDITIONERS_H
 #define EIGEN_BASIC_PRECONDITIONERS_H
@@ -52,12 +37,13 @@ class DiagonalPreconditioner
     typedef typename Vector::Index Index;
 
   public:
+    // this typedef is only to export the scalar type and compile-time dimensions to solve_retval
     typedef Matrix<Scalar,Dynamic,Dynamic> MatrixType;
 
     DiagonalPreconditioner() : m_isInitialized(false) {}
 
-    template<typename MatrixType>
-    DiagonalPreconditioner(const MatrixType& mat) : m_invdiag(mat.cols())
+    template<typename MatType>
+    DiagonalPreconditioner(const MatType& mat) : m_invdiag(mat.cols())
     {
       compute(mat);
     }
@@ -65,19 +51,19 @@ class DiagonalPreconditioner
     Index rows() const { return m_invdiag.size(); }
     Index cols() const { return m_invdiag.size(); }
     
-    template<typename MatrixType>
-    DiagonalPreconditioner& analyzePattern(const MatrixType& )
+    template<typename MatType>
+    DiagonalPreconditioner& analyzePattern(const MatType& )
     {
       return *this;
     }
     
-    template<typename MatrixType>
-    DiagonalPreconditioner& factorize(const MatrixType& mat)
+    template<typename MatType>
+    DiagonalPreconditioner& factorize(const MatType& mat)
     {
       m_invdiag.resize(mat.cols());
       for(int j=0; j<mat.outerSize(); ++j)
       {
-        typename MatrixType::InnerIterator it(mat,j);
+        typename MatType::InnerIterator it(mat,j);
         while(it && it.index()!=j) ++it;
         if(it && it.index()==j)
           m_invdiag(j) = Scalar(1)/it.value();
@@ -88,8 +74,8 @@ class DiagonalPreconditioner
       return *this;
     }
     
-    template<typename MatrixType>
-    DiagonalPreconditioner& compute(const MatrixType& mat)
+    template<typename MatType>
+    DiagonalPreconditioner& compute(const MatType& mat)
     {
       return factorize(mat);
     }
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h b/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h
index 5f23968bc..126341be8 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2011 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_BICGSTAB_H
 #define EIGEN_BICGSTAB_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h b/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h
index edab2299e..f64f2534d 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2011 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_CONJUGATE_GRADIENT_H
 #define EIGEN_CONJUGATE_GRADIENT_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h b/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h
index 32f152634..224304f0e 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_INCOMPLETE_LUT_H
 #define EIGEN_INCOMPLETE_LUT_H
@@ -47,8 +32,13 @@ namespace Eigen {
  * 
  * NOTE : The following implementation is derived from the ILUT implementation
  * in the SPARSKIT package, Copyright (C) 2005, the Regents of the University of Minnesota 
- *  released under the terms of the GNU LGPL; 
- * see http://www-users.cs.umn.edu/~saad/software/SPARSKIT/README for more details.
+ *  released under the terms of the GNU LGPL: 
+ *    http://www-users.cs.umn.edu/~saad/software/SPARSKIT/README
+ * However, Yousef Saad gave us permission to relicense his ILUT code to MPL2.
+ * See the Eigen mailing list archive, thread: ILUT, date: July 8, 2012:
+ *   http://listengine.tuxfamily.org/lists.tuxfamily.org/eigen/2012/07/msg00064.html
+ * alternatively, on GMANE:
+ *   http://comments.gmane.org/gmane.comp.lib.eigen/3302
  */
 template <typename _Scalar>
 class IncompleteLUT : internal::noncopyable
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h b/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h
index b27ad82ec..11706ceba 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2011 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_ITERATIVE_SOLVER_BASE_H
 #define EIGEN_ITERATIVE_SOLVER_BASE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Jacobi/Jacobi.h b/gtsam/3rdparty/Eigen/Eigen/src/Jacobi/Jacobi.h
index 691f5f22b..a9c17dcdf 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Jacobi/Jacobi.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Jacobi/Jacobi.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_JACOBI_H
 #define EIGEN_JACOBI_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/LU/Determinant.h b/gtsam/3rdparty/Eigen/Eigen/src/LU/Determinant.h
index a5097c13f..d862c5d77 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/LU/Determinant.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/LU/Determinant.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_DETERMINANT_H
 #define EIGEN_DETERMINANT_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/LU/FullPivLU.h b/gtsam/3rdparty/Eigen/Eigen/src/LU/FullPivLU.h
index c342bc470..e23f96cdc 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/LU/FullPivLU.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/LU/FullPivLU.h
@@ -3,24 +3,9 @@
 //
 // 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_LU_H
 #define EIGEN_LU_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/LU/Inverse.h b/gtsam/3rdparty/Eigen/Eigen/src/LU/Inverse.h
index aa90dc8ad..39b8cdbc8 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/LU/Inverse.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/LU/Inverse.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2010 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_INVERSE_H
 #define EIGEN_INVERSE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/LU/PartialPivLU.h b/gtsam/3rdparty/Eigen/Eigen/src/LU/PartialPivLU.h
index 8ae556eb6..c9ff9dd5a 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/LU/PartialPivLU.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/LU/PartialPivLU.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2006-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_PARTIALLU_H
 #define EIGEN_PARTIALLU_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/LU/arch/Inverse_SSE.h b/gtsam/3rdparty/Eigen/Eigen/src/LU/arch/Inverse_SSE.h
index afb8e4a1d..60b7a2376 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/LU/arch/Inverse_SSE.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/LU/arch/Inverse_SSE.h
@@ -5,24 +5,9 @@
 // Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 // The SSE code for the 4x4 float and double matrix inverse in this file
 // comes from the following Intel's library:
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/OrderingMethods/Amd.h b/gtsam/3rdparty/Eigen/Eigen/src/OrderingMethods/Amd.h
index ec13077fe..ce04852b8 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/OrderingMethods/Amd.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/OrderingMethods/Amd.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 /*
 
@@ -45,6 +30,8 @@ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 
 */
 
+#include "../Core/util/NonMPL2.h"
+
 #ifndef EIGEN_SPARSE_AMD_H
 #define EIGEN_SPARSE_AMD_H
 
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/PaStiXSupport/PaStiXSupport.h b/gtsam/3rdparty/Eigen/Eigen/src/PaStiXSupport/PaStiXSupport.h
index f687a5e6b..82e137c64 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/PaStiXSupport/PaStiXSupport.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/PaStiXSupport/PaStiXSupport.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_PASTIXSUPPORT_H
 #define EIGEN_PASTIXSUPPORT_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/PardisoSupport/PardisoSupport.h b/gtsam/3rdparty/Eigen/Eigen/src/PardisoSupport/PardisoSupport.h
index e6defc8c3..d623bf518 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/PardisoSupport/PardisoSupport.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/PardisoSupport/PardisoSupport.h
@@ -108,6 +108,7 @@ class PardisoImpl
     typedef Matrix<Scalar,Dynamic,1> VectorType;
     typedef Matrix<Index, 1, MatrixType::ColsAtCompileTime> IntRowVectorType;
     typedef Matrix<Index, MatrixType::RowsAtCompileTime, 1> IntColVectorType;
+    typedef Array<Index,64,1,DontAlign> ParameterType;
     enum {
       ScalarIsComplex = NumTraits<Scalar>::IsComplex
     };
@@ -142,7 +143,7 @@ class PardisoImpl
     /** \warning for advanced usage only.
       * \returns a reference to the parameter array controlling PARDISO.
       * See the PARDISO manual to know how to use it. */
-    Array<Index,64,1>& pardisoParameterArray()
+    ParameterType& pardisoParameterArray()
     {
       return m_iparm;
     }
@@ -295,7 +296,7 @@ class PardisoImpl
     bool m_initialized, m_analysisIsOk, m_factorizationIsOk;
     Index m_type, m_msglvl;
     mutable void *m_pt[64];
-    mutable Array<Index,64,1> m_iparm;
+    mutable ParameterType m_iparm;
     mutable IntColVectorType m_perm;
     Index m_size;
     
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/QR/ColPivHouseholderQR.h b/gtsam/3rdparty/Eigen/Eigen/src/QR/ColPivHouseholderQR.h
index a98829ade..2daa23cc3 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/QR/ColPivHouseholderQR.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/QR/ColPivHouseholderQR.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_COLPIVOTINGHOUSEHOLDERQR_H
 #define EIGEN_COLPIVOTINGHOUSEHOLDERQR_H
@@ -487,7 +472,7 @@ struct solve_retval<ColPivHouseholderQR<_MatrixType>, Rhs>
     // Note that the matrix Q = H_0^* H_1^*... so its inverse is Q^* = (H_0 H_1 ...)^T
     c.applyOnTheLeft(householderSequence(dec().matrixQR(), dec().hCoeffs())
                      .setLength(dec().nonzeroPivots())
-         .transpose()
+		     .transpose()
       );
 
     dec().matrixQR()
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/QR/ColPivHouseholderQR_MKL.h b/gtsam/3rdparty/Eigen/Eigen/src/QR/ColPivHouseholderQR_MKL.h
index 0ad66d3f8..ebcafe7da 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/QR/ColPivHouseholderQR_MKL.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/QR/ColPivHouseholderQR_MKL.h
@@ -41,7 +41,7 @@ namespace Eigen {
 /** \internal Specialization for the data types supported by MKL */
 
 #define EIGEN_MKL_QR_COLPIV(EIGTYPE, MKLTYPE, MKLPREFIX, EIGCOLROW, MKLCOLROW) \
-template<> \
+template<> inline \
 ColPivHouseholderQR<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW, Dynamic, Dynamic> >& \
 ColPivHouseholderQR<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW, Dynamic, Dynamic> >::compute( \
               const Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW, Dynamic, Dynamic>& matrix) \
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/QR/FullPivHouseholderQR.h b/gtsam/3rdparty/Eigen/Eigen/src/QR/FullPivHouseholderQR.h
index 6c4bc0abf..37898e77c 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/QR/FullPivHouseholderQR.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/QR/FullPivHouseholderQR.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_FULLPIVOTINGHOUSEHOLDERQR_H
 #define EIGEN_FULLPIVOTINGHOUSEHOLDERQR_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/QR/HouseholderQR.h b/gtsam/3rdparty/Eigen/Eigen/src/QR/HouseholderQR.h
index 59f6fcaa2..5bcb32c1e 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/QR/HouseholderQR.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/QR/HouseholderQR.h
@@ -5,24 +5,9 @@
 // Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
 // Copyright (C) 2010 Vincent Lejeune
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_QR_H
 #define EIGEN_QR_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SVD/JacobiSVD.h b/gtsam/3rdparty/Eigen/Eigen/src/SVD/JacobiSVD.h
index 9eadaa9fc..a7dbf0737 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SVD/JacobiSVD.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SVD/JacobiSVD.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009-2010 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_JACOBISVD_H
 #define EIGEN_JACOBISVD_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SVD/JacobiSVD_MKL.h b/gtsam/3rdparty/Eigen/Eigen/src/SVD/JacobiSVD_MKL.h
index 1eeafca49..decda7540 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SVD/JacobiSVD_MKL.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SVD/JacobiSVD_MKL.h
@@ -40,7 +40,7 @@ namespace Eigen {
 /** \internal Specialization for the data types supported by MKL */
 
 #define EIGEN_MKL_SVD(EIGTYPE, MKLTYPE, MKLRTYPE, MKLPREFIX, EIGCOLROW, MKLCOLROW) \
-template<> \
+template<> inline \
 JacobiSVD<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW, Dynamic, Dynamic>, ColPivHouseholderQRPreconditioner>& \
 JacobiSVD<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW, Dynamic, Dynamic>, ColPivHouseholderQRPreconditioner>::compute(const Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW, Dynamic, Dynamic>& matrix, unsigned int computationOptions) \
 { \
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SVD/UpperBidiagonalization.h b/gtsam/3rdparty/Eigen/Eigen/src/SVD/UpperBidiagonalization.h
index 1ad656ebe..213b3100d 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SVD/UpperBidiagonalization.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SVD/UpperBidiagonalization.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_BIDIAGONALIZATION_H
 #define EIGEN_BIDIAGONALIZATION_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCholesky/SimplicialCholesky.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCholesky/SimplicialCholesky.h
index e5d98933f..9bf38ab2d 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCholesky/SimplicialCholesky.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCholesky/SimplicialCholesky.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 /*
 
@@ -60,6 +45,8 @@ LDL License:
     and a notice that the code was modified is included.
  */
 
+#include "../Core/util/NonMPL2.h"
+
 #ifndef EIGEN_SIMPLICIAL_CHOLESKY_H
 #define EIGEN_SIMPLICIAL_CHOLESKY_H
 
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/AmbiVector.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/AmbiVector.h
index 8ec63107a..6cfaadbaa 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/AmbiVector.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/AmbiVector.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_AMBIVECTOR_H
 #define EIGEN_AMBIVECTOR_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/CompressedStorage.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/CompressedStorage.h
index fa2bfd763..85a998aff 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/CompressedStorage.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/CompressedStorage.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_COMPRESSED_STORAGE_H
 #define EIGEN_COMPRESSED_STORAGE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/ConservativeSparseSparseProduct.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/ConservativeSparseSparseProduct.h
index 0fb4c1c97..16b5e1dba 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/ConservativeSparseSparseProduct.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/ConservativeSparseSparseProduct.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_CONSERVATIVESPARSESPARSEPRODUCT_H
 #define EIGEN_CONSERVATIVESPARSESPARSEPRODUCT_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/CoreIterators.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/CoreIterators.h
index ea51e9231..6da4683d2 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/CoreIterators.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/CoreIterators.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_COREITERATORS_H
 #define EIGEN_COREITERATORS_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/MappedSparseMatrix.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/MappedSparseMatrix.h
index fc7f9d143..93cd4832d 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/MappedSparseMatrix.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/MappedSparseMatrix.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_MAPPED_SPARSEMATRIX_H
 #define EIGEN_MAPPED_SPARSEMATRIX_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseBlock.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseBlock.h
index 189538f39..eefd80702 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseBlock.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseBlock.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SPARSE_BLOCK_H
 #define EIGEN_SPARSE_BLOCK_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseCwiseBinaryOp.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseCwiseBinaryOp.h
index 28167066a..d5f97f78f 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseCwiseBinaryOp.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseCwiseBinaryOp.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SPARSE_CWISE_BINARY_OP_H
 #define EIGEN_SPARSE_CWISE_BINARY_OP_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseCwiseUnaryOp.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseCwiseUnaryOp.h
index 2a63cf2af..5a50c7803 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseCwiseUnaryOp.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseCwiseUnaryOp.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SPARSE_CWISE_UNARY_OP_H
 #define EIGEN_SPARSE_CWISE_UNARY_OP_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseDenseProduct.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseDenseProduct.h
index 00ba606be..6f32940d6 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseDenseProduct.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseDenseProduct.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SPARSEDENSEPRODUCT_H
 #define EIGEN_SPARSEDENSEPRODUCT_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseDiagonalProduct.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseDiagonalProduct.h
index b09c4a715..ccba02124 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseDiagonalProduct.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseDiagonalProduct.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SPARSE_DIAGONAL_PRODUCT_H
 #define EIGEN_SPARSE_DIAGONAL_PRODUCT_H
@@ -141,11 +126,15 @@ class sparse_diagonal_product_inner_iterator_selector
       SparseInnerVectorSet<Rhs,1>,
       typename Lhs::DiagonalVectorType>::InnerIterator Base;
     typedef typename Lhs::Index Index;
+    Index m_outer;
   public:
     inline sparse_diagonal_product_inner_iterator_selector(
               const SparseDiagonalProductType& expr, Index outer)
-      : Base(expr.rhs().innerVector(outer) .cwiseProduct(expr.lhs().diagonal()), 0)
+      : Base(expr.rhs().innerVector(outer) .cwiseProduct(expr.lhs().diagonal()), 0), m_outer(outer)
     {}
+    
+    inline Index outer() const { return m_outer; }
+    inline Index col() const { return m_outer; }
 };
 
 template<typename Lhs, typename Rhs, typename SparseDiagonalProductType>
@@ -175,11 +164,15 @@ class sparse_diagonal_product_inner_iterator_selector
       SparseInnerVectorSet<Lhs,1>,
       Transpose<const typename Rhs::DiagonalVectorType> >::InnerIterator Base;
     typedef typename Lhs::Index Index;
+    Index m_outer;
   public:
     inline sparse_diagonal_product_inner_iterator_selector(
               const SparseDiagonalProductType& expr, Index outer)
-      : Base(expr.lhs().innerVector(outer) .cwiseProduct(expr.rhs().diagonal().transpose()), 0)
+      : Base(expr.lhs().innerVector(outer) .cwiseProduct(expr.rhs().diagonal().transpose()), 0), m_outer(outer)
     {}
+    
+    inline Index outer() const { return m_outer; }
+    inline Index row() const { return m_outer; }
 };
 
 } // end namespace internal
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseDot.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseDot.h
index ebb63d36b..5c4a593dc 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseDot.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseDot.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SPARSE_DOT_H
 #define EIGEN_SPARSE_DOT_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseFuzzy.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseFuzzy.h
index f00b3d646..45f36e9eb 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseFuzzy.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseFuzzy.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SPARSE_FUZZY_H
 #define EIGEN_SPARSE_FUZZY_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseMatrix.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseMatrix.h
index 214f130f5..fc3749b5f 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseMatrix.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseMatrix.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SPARSEMATRIX_H
 #define EIGEN_SPARSEMATRIX_H
@@ -282,7 +267,11 @@ class SparseMatrix
       reserveInnerVectors(reserveSizes);
     }
     template<class SizesType>
-    inline void reserve(const SizesType& reserveSizes, const typename SizesType::Scalar& enableif = typename SizesType::Scalar())
+    inline void reserve(const SizesType& reserveSizes, const typename SizesType::Scalar& enableif =
+    #if (!defined(_MSC_VER)) || (_MSC_VER>=1500) // MSVC 2005 fails to compile with this typename
+        typename
+    #endif
+        SizesType::Scalar())
     {
       EIGEN_UNUSED_VARIABLE(enableif);
       reserveInnerVectors(reserveSizes);
@@ -583,6 +572,16 @@ class SparseMatrix
       *this = other.derived();
     }
 
+    /** \brief Copy constructor with in-place evaluation */
+    template<typename OtherDerived>
+    SparseMatrix(const ReturnByValue<OtherDerived>& other)
+      : Base(), m_outerSize(0), m_innerSize(0), m_outerIndex(0), m_innerNonZeros(0)
+    {
+      check_template_parameters();
+      initAssignment(other);
+      other.evalTo(*this);
+    }
+
     /** Swaps the content of two sparse matrices of the same type.
       * This is a fast operation that simply swaps the underlying pointers and parameters. */
     inline void swap(SparseMatrix& other)
@@ -624,7 +623,10 @@ class SparseMatrix
     
     template<typename OtherDerived>
     inline SparseMatrix& operator=(const ReturnByValue<OtherDerived>& other)
-    { return Base::operator=(other.derived()); }
+    {
+      initAssignment(other);
+      return Base::operator=(other.derived());
+    }
     
     template<typename OtherDerived>
     inline SparseMatrix& operator=(const EigenBase<OtherDerived>& other)
@@ -634,7 +636,6 @@ class SparseMatrix
     template<typename OtherDerived>
     EIGEN_DONT_INLINE SparseMatrix& operator=(const SparseMatrixBase<OtherDerived>& other)
     {
-      initAssignment(other.derived());
       const bool needToTranspose = (Flags & RowMajorBit) != (OtherDerived::Flags & RowMajorBit);
       if (needToTranspose)
       {
@@ -646,40 +647,45 @@ class SparseMatrix
         typedef typename internal::remove_all<OtherCopy>::type _OtherCopy;
         OtherCopy otherCopy(other.derived());
 
-        Eigen::Map<Matrix<Index, Dynamic, 1> > (m_outerIndex,outerSize()).setZero();
+        SparseMatrix dest(other.rows(),other.cols());
+        Eigen::Map<Matrix<Index, Dynamic, 1> > (dest.m_outerIndex,dest.outerSize()).setZero();
+
         // pass 1
         // FIXME the above copy could be merged with that pass
         for (Index j=0; j<otherCopy.outerSize(); ++j)
           for (typename _OtherCopy::InnerIterator it(otherCopy, j); it; ++it)
-            ++m_outerIndex[it.index()];
+            ++dest.m_outerIndex[it.index()];
 
         // prefix sum
         Index count = 0;
-        VectorXi positions(outerSize());
-        for (Index j=0; j<outerSize(); ++j)
+        VectorXi positions(dest.outerSize());
+        for (Index j=0; j<dest.outerSize(); ++j)
         {
-          Index tmp = m_outerIndex[j];
-          m_outerIndex[j] = count;
+          Index tmp = dest.m_outerIndex[j];
+          dest.m_outerIndex[j] = count;
           positions[j] = count;
           count += tmp;
         }
-        m_outerIndex[outerSize()] = count;
+        dest.m_outerIndex[dest.outerSize()] = count;
         // alloc
-        m_data.resize(count);
+        dest.m_data.resize(count);
         // pass 2
         for (Index j=0; j<otherCopy.outerSize(); ++j)
         {
           for (typename _OtherCopy::InnerIterator it(otherCopy, j); it; ++it)
           {
             Index pos = positions[it.index()]++;
-            m_data.index(pos) = j;
-            m_data.value(pos) = it.value();
+            dest.m_data.index(pos) = j;
+            dest.m_data.value(pos) = it.value();
           }
         }
+        this->swap(dest);
         return *this;
       }
       else
       {
+        if(other.isRValue())
+          initAssignment(other.derived());
         // there is no special optimization
         return Base::operator=(other.derived());
       }
@@ -899,6 +905,7 @@ protected:
         m_data.value(p) = m_data.value(p-1);
         --p;
       }
+      eigen_assert((p<=startId || m_data.index(p-1)!=inner) && "you cannot insert an element that already exist, you must call coeffRef to this end");
 
       m_innerNonZeros[outer]++;
 
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseMatrixBase.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseMatrixBase.h
index 9d7b83577..9a1258097 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseMatrixBase.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseMatrixBase.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SPARSEMATRIXBASE_H
 #define EIGEN_SPARSEMATRIXBASE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparsePermutation.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparsePermutation.h
index b1f2a283f..b897b7595 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparsePermutation.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparsePermutation.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2012 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SPARSE_PERMUTATION_H
 #define EIGEN_SPARSE_PERMUTATION_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseProduct.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseProduct.h
index 813dbf624..6a555b834 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseProduct.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseProduct.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SPARSEPRODUCT_H
 #define EIGEN_SPARSEPRODUCT_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseRedux.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseRedux.h
index 73fb9a318..f3da93a71 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseRedux.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseRedux.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SPARSEREDUX_H
 #define EIGEN_SPARSEREDUX_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseSelfAdjointView.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseSelfAdjointView.h
index c925a894d..86ec0a6c5 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseSelfAdjointView.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseSelfAdjointView.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SPARSE_SELFADJOINTVIEW_H
 #define EIGEN_SPARSE_SELFADJOINTVIEW_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseSparseProductWithPruning.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseSparseProductWithPruning.h
index abd4fda82..2438ac573 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseSparseProductWithPruning.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseSparseProductWithPruning.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SPARSESPARSEPRODUCTWITHPRUNING_H
 #define EIGEN_SPARSESPARSEPRODUCTWITHPRUNING_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseTranspose.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseTranspose.h
index 07d9e0bbd..273f9de68 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseTranspose.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseTranspose.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SPARSETRANSPOSE_H
 #define EIGEN_SPARSETRANSPOSE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseTriangularView.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseTriangularView.h
index 59aab5756..477e4bd94 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseTriangularView.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseTriangularView.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SPARSE_TRIANGULARVIEW_H
 #define EIGEN_SPARSE_TRIANGULARVIEW_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseUtil.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseUtil.h
index 050b65253..a686e08da 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseUtil.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseUtil.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SPARSEUTIL_H
 #define EIGEN_SPARSEUTIL_H
@@ -128,9 +113,10 @@ template<typename T,int Rows> struct sparse_eval<T,Rows,1> {
 
 template<typename T,int Rows,int Cols> struct sparse_eval {
     typedef typename traits<T>::Scalar _Scalar;
-    enum { _Flags = traits<T>::Flags };
+    typedef typename traits<T>::Index _Index;
+    enum { _Options = ((traits<T>::Flags&RowMajorBit)==RowMajorBit) ? RowMajor : ColMajor };
   public:
-    typedef SparseMatrix<_Scalar, _Flags> type;
+    typedef SparseMatrix<_Scalar, _Options, _Index> type;
 };
 
 template<typename T> struct sparse_eval<T,1,1> {
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseVector.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseVector.h
index e81347705..c952f6540 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseVector.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseVector.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SPARSEVECTOR_H
 #define EIGEN_SPARSEVECTOR_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseView.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseView.h
index 43a3adb24..8b0b9ea03 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseView.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/SparseView.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2011 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2010 Daniel Lowengrub <lowdanie@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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SPARSEVIEW_H
 #define EIGEN_SPARSEVIEW_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/TriangularSolver.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/TriangularSolver.h
index 9a45e8f41..cb8ad82b4 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/TriangularSolver.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/TriangularSolver.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SPARSETRIANGULARSOLVER_H
 #define EIGEN_SPARSETRIANGULARSOLVER_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/StlSupport/StdDeque.h b/gtsam/3rdparty/Eigen/Eigen/src/StlSupport/StdDeque.h
index 6f12c106d..4ee8e5c10 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/StlSupport/StdDeque.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/StlSupport/StdDeque.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_STDDEQUE_H
 #define EIGEN_STDDEQUE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/StlSupport/StdList.h b/gtsam/3rdparty/Eigen/Eigen/src/StlSupport/StdList.h
index d329a0b2d..627381ece 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/StlSupport/StdList.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/StlSupport/StdList.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_STDLIST_H
 #define EIGEN_STDLIST_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/StlSupport/StdVector.h b/gtsam/3rdparty/Eigen/Eigen/src/StlSupport/StdVector.h
index 27d6ab539..40a9abefa 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/StlSupport/StdVector.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/StlSupport/StdVector.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_STDVECTOR_H
 #define EIGEN_STDVECTOR_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/StlSupport/details.h b/gtsam/3rdparty/Eigen/Eigen/src/StlSupport/details.h
index 397c8ef85..d8debc7c4 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/StlSupport/details.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/StlSupport/details.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_STL_DETAILS_H
 #define EIGEN_STL_DETAILS_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SuperLUSupport/SuperLUSupport.h b/gtsam/3rdparty/Eigen/Eigen/src/SuperLUSupport/SuperLUSupport.h
index 60c258be4..d8a54e18c 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SuperLUSupport/SuperLUSupport.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SuperLUSupport/SuperLUSupport.h
@@ -3,31 +3,16 @@
 //
 // Copyright (C) 2008-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SUPERLUSUPPORT_H
 #define EIGEN_SUPERLUSUPPORT_H
 
 namespace Eigen { 
 
-#define DECL_GSSVX(PREFIX,FLOATTYPE,KEYTYPE)    \
+#define DECL_GSSVX(PREFIX,FLOATTYPE,KEYTYPE)		\
     extern "C" {                                                                                          \
       typedef struct { FLOATTYPE for_lu; FLOATTYPE total_needed; int expansions; } PREFIX##mem_usage_t;   \
       extern void PREFIX##gssvx(superlu_options_t *, SuperMatrix *, int *, int *, int *,                  \
@@ -511,8 +496,8 @@ class SuperLU : public SuperLUBase<_MatrixType,SuperLU<_MatrixType> >
 
     SuperLU(const MatrixType& matrix) : Base()
     {
-      Base::init();
-      compute(matrix);
+      init();
+      Base::compute(matrix);
     }
 
     ~SuperLU()
@@ -848,7 +833,7 @@ class SuperILU : public SuperLUBase<_MatrixType,SuperILU<_MatrixType> >
     SuperILU(const MatrixType& matrix) : Base()
     {
       init();
-      compute(matrix);
+      Base::compute(matrix);
     }
 
     ~SuperILU()
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/UmfPackSupport/UmfPackSupport.h b/gtsam/3rdparty/Eigen/Eigen/src/UmfPackSupport/UmfPackSupport.h
index f98a4c8c0..f01720362 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/UmfPackSupport/UmfPackSupport.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/UmfPackSupport/UmfPackSupport.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_UMFPACKSUPPORT_H
 #define EIGEN_UMFPACKSUPPORT_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/misc/Image.h b/gtsam/3rdparty/Eigen/Eigen/src/misc/Image.h
index 7643a0836..75c5f433a 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/misc/Image.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/misc/Image.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_MISC_IMAGE_H
 #define EIGEN_MISC_IMAGE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/misc/Kernel.h b/gtsam/3rdparty/Eigen/Eigen/src/misc/Kernel.h
index 37bc392ef..b9e1518fd 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/misc/Kernel.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/misc/Kernel.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_MISC_KERNEL_H
 #define EIGEN_MISC_KERNEL_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/misc/Solve.h b/gtsam/3rdparty/Eigen/Eigen/src/misc/Solve.h
index 2afd078d4..7f70d60af 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/misc/Solve.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/misc/Solve.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_MISC_SOLVE_H
 #define EIGEN_MISC_SOLVE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/misc/SparseSolve.h b/gtsam/3rdparty/Eigen/Eigen/src/misc/SparseSolve.h
index aca34b2d1..272c4a479 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/misc/SparseSolve.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/misc/SparseSolve.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SPARSE_SOLVE_H
 #define EIGEN_SPARSE_SOLVE_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/misc/blas.h b/gtsam/3rdparty/Eigen/Eigen/src/misc/blas.h
index 8fefd80ef..6fce99ed5 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/misc/blas.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/misc/blas.h
@@ -159,49 +159,49 @@ int    BLASFUNC(qrotm) (int *, double *, int *, double *, int *, double *);
 /* Level 2 routines */
 
 int BLASFUNC(sger)(int *,    int *, float *,  float *, int *,
-       float *,  int *, float *,  int *);
+		   float *,  int *, float *,  int *);
 int BLASFUNC(dger)(int *,    int *, double *, double *, int *,
-       double *, int *, double *, int *);
+		   double *, int *, double *, int *);
 int BLASFUNC(qger)(int *,    int *, double *, double *, int *,
-       double *, int *, double *, int *);
+		   double *, int *, double *, int *);
 int BLASFUNC(cgeru)(int *,    int *, float *,  float *, int *,
-        float *,  int *, float *,  int *);
+		    float *,  int *, float *,  int *);
 int BLASFUNC(cgerc)(int *,    int *, float *,  float *, int *,
-        float *,  int *, float *,  int *);
+		    float *,  int *, float *,  int *);
 int BLASFUNC(zgeru)(int *,    int *, double *, double *, int *,
-        double *, int *, double *, int *);
+		    double *, int *, double *, int *);
 int BLASFUNC(zgerc)(int *,    int *, double *, double *, int *,
-        double *, int *, double *, int *);
+		    double *, int *, double *, int *);
 int BLASFUNC(xgeru)(int *,    int *, double *, double *, int *,
-        double *, int *, double *, int *);
+		    double *, int *, double *, int *);
 int BLASFUNC(xgerc)(int *,    int *, double *, double *, int *,
-        double *, int *, double *, int *);
+		    double *, int *, double *, int *);
 
 int BLASFUNC(sgemv)(char *, int *, int *, float  *, float  *, int *,
-        float  *, int *, float  *, float  *, int *);
+		    float  *, int *, float  *, float  *, int *);
 int BLASFUNC(dgemv)(char *, int *, int *, double *, double *, int *,
-        double *, int *, double *, double *, int *);
+		    double *, int *, double *, double *, int *);
 int BLASFUNC(qgemv)(char *, int *, int *, double *, double *, int *,
-        double *, int *, double *, double *, int *);
+		    double *, int *, double *, double *, int *);
 int BLASFUNC(cgemv)(char *, int *, int *, float  *, float  *, int *,
-        float  *, int *, float  *, float  *, int *);
+		    float  *, int *, float  *, float  *, int *);
 int BLASFUNC(zgemv)(char *, int *, int *, double *, double *, int *,
-        double *, int *, double *, double *, int *);
+		    double *, int *, double *, double *, int *);
 int BLASFUNC(xgemv)(char *, int *, int *, double *, double *, int *,
-        double *, int *, double *, double *, int *);
+		    double *, int *, double *, double *, int *);
 
 int BLASFUNC(strsv) (char *, char *, char *, int *, float  *, int *,
-         float  *, int *);
+		     float  *, int *);
 int BLASFUNC(dtrsv) (char *, char *, char *, int *, double *, int *,
-         double *, int *);
+		     double *, int *);
 int BLASFUNC(qtrsv) (char *, char *, char *, int *, double *, int *,
-         double *, int *);
+		     double *, int *);
 int BLASFUNC(ctrsv) (char *, char *, char *, int *, float  *, int *,
-         float  *, int *);
+		     float  *, int *);
 int BLASFUNC(ztrsv) (char *, char *, char *, int *, double *, int *,
-         double *, int *);
+		     double *, int *);
 int BLASFUNC(xtrsv) (char *, char *, char *, int *, double *, int *,
-         double *, int *);
+		     double *, int *);
 
 int BLASFUNC(stpsv) (char *, char *, char *, int *, float  *, float  *, int *);
 int BLASFUNC(dtpsv) (char *, char *, char *, int *, double *, double *, int *);
@@ -211,17 +211,17 @@ int BLASFUNC(ztpsv) (char *, char *, char *, int *, double *, double *, int *);
 int BLASFUNC(xtpsv) (char *, char *, char *, int *, double *, double *, int *);
 
 int BLASFUNC(strmv) (char *, char *, char *, int *, float  *, int *,
-         float  *, int *);
+		     float  *, int *);
 int BLASFUNC(dtrmv) (char *, char *, char *, int *, double *, int *,
-         double *, int *);
+		     double *, int *);
 int BLASFUNC(qtrmv) (char *, char *, char *, int *, double *, int *,
-         double *, int *);
+		     double *, int *);
 int BLASFUNC(ctrmv) (char *, char *, char *, int *, float  *, int *,
-         float  *, int *);
+		     float  *, int *);
 int BLASFUNC(ztrmv) (char *, char *, char *, int *, double *, int *,
-         double *, int *);
+		     double *, int *);
 int BLASFUNC(xtrmv) (char *, char *, char *, int *, double *, int *,
-         double *, int *);
+		     double *, int *);
 
 int BLASFUNC(stpmv) (char *, char *, char *, int *, float  *, float  *, int *);
 int BLASFUNC(dtpmv) (char *, char *, char *, int *, double *, double *, int *);
@@ -245,121 +245,121 @@ int BLASFUNC(ztbsv) (char *, char *, char *, int *, int *, double *, int *, doub
 int BLASFUNC(xtbsv) (char *, char *, char *, int *, int *, double *, int *, double *, int *);
 
 int BLASFUNC(ssymv) (char *, int *, float  *, float *, int *,
-         float  *, int *, float *, float *, int *);
+		     float  *, int *, float *, float *, int *);
 int BLASFUNC(dsymv) (char *, int *, double  *, double *, int *,
-         double  *, int *, double *, double *, int *);
+		     double  *, int *, double *, double *, int *);
 int BLASFUNC(qsymv) (char *, int *, double  *, double *, int *,
-         double  *, int *, double *, double *, int *);
+		     double  *, int *, double *, double *, int *);
 int BLASFUNC(csymv) (char *, int *, float  *, float *, int *,
-         float  *, int *, float *, float *, int *);
+		     float  *, int *, float *, float *, int *);
 int BLASFUNC(zsymv) (char *, int *, double  *, double *, int *,
-         double  *, int *, double *, double *, int *);
+		     double  *, int *, double *, double *, int *);
 int BLASFUNC(xsymv) (char *, int *, double  *, double *, int *,
-         double  *, int *, double *, double *, int *);
+		     double  *, int *, double *, double *, int *);
 
 int BLASFUNC(sspmv) (char *, int *, float  *, float *,
-         float  *, int *, float *, float *, int *);
+		     float  *, int *, float *, float *, int *);
 int BLASFUNC(dspmv) (char *, int *, double  *, double *,
-         double  *, int *, double *, double *, int *);
+		     double  *, int *, double *, double *, int *);
 int BLASFUNC(qspmv) (char *, int *, double  *, double *,
-         double  *, int *, double *, double *, int *);
+		     double  *, int *, double *, double *, int *);
 int BLASFUNC(cspmv) (char *, int *, float  *, float *,
-         float  *, int *, float *, float *, int *);
+		     float  *, int *, float *, float *, int *);
 int BLASFUNC(zspmv) (char *, int *, double  *, double *,
-         double  *, int *, double *, double *, int *);
+		     double  *, int *, double *, double *, int *);
 int BLASFUNC(xspmv) (char *, int *, double  *, double *,
-         double  *, int *, double *, double *, int *);
+		     double  *, int *, double *, double *, int *);
 
 int BLASFUNC(ssyr) (char *, int *, float   *, float  *, int *,
-        float  *, int *);
+		    float  *, int *);
 int BLASFUNC(dsyr) (char *, int *, double  *, double *, int *,
-        double *, int *);
+		    double *, int *);
 int BLASFUNC(qsyr) (char *, int *, double  *, double *, int *,
-        double *, int *);
+		    double *, int *);
 int BLASFUNC(csyr) (char *, int *, float   *, float  *, int *,
-        float  *, int *);
+		    float  *, int *);
 int BLASFUNC(zsyr) (char *, int *, double  *, double *, int *,
-        double *, int *);
+		    double *, int *);
 int BLASFUNC(xsyr) (char *, int *, double  *, double *, int *,
-        double *, int *);
+		    double *, int *);
 
 int BLASFUNC(ssyr2) (char *, int *, float   *,
-         float  *, int *, float  *, int *, float  *, int *);
+		     float  *, int *, float  *, int *, float  *, int *);
 int BLASFUNC(dsyr2) (char *, int *, double  *,
-         double *, int *, double *, int *, double *, int *);
+		     double *, int *, double *, int *, double *, int *);
 int BLASFUNC(qsyr2) (char *, int *, double  *,
-         double *, int *, double *, int *, double *, int *);
+		     double *, int *, double *, int *, double *, int *);
 int BLASFUNC(csyr2) (char *, int *, float   *,
-         float  *, int *, float  *, int *, float  *, int *);
+		     float  *, int *, float  *, int *, float  *, int *);
 int BLASFUNC(zsyr2) (char *, int *, double  *,
-         double *, int *, double *, int *, double *, int *);
+		     double *, int *, double *, int *, double *, int *);
 int BLASFUNC(xsyr2) (char *, int *, double  *,
-         double *, int *, double *, int *, double *, int *);
+		     double *, int *, double *, int *, double *, int *);
 
 int BLASFUNC(sspr) (char *, int *, float   *, float  *, int *,
-        float  *);
+		    float  *);
 int BLASFUNC(dspr) (char *, int *, double  *, double *, int *,
-        double *);
+		    double *);
 int BLASFUNC(qspr) (char *, int *, double  *, double *, int *,
-        double *);
+		    double *);
 int BLASFUNC(cspr) (char *, int *, float   *, float  *, int *,
-        float  *);
+		    float  *);
 int BLASFUNC(zspr) (char *, int *, double  *, double *, int *,
-        double *);
+		    double *);
 int BLASFUNC(xspr) (char *, int *, double  *, double *, int *,
-        double *);
+		    double *);
 
 int BLASFUNC(sspr2) (char *, int *, float   *,
-         float  *, int *, float  *, int *, float  *);
+		     float  *, int *, float  *, int *, float  *);
 int BLASFUNC(dspr2) (char *, int *, double  *,
-         double *, int *, double *, int *, double *);
+		     double *, int *, double *, int *, double *);
 int BLASFUNC(qspr2) (char *, int *, double  *,
-         double *, int *, double *, int *, double *);
+		     double *, int *, double *, int *, double *);
 int BLASFUNC(cspr2) (char *, int *, float   *,
-         float  *, int *, float  *, int *, float  *);
+		     float  *, int *, float  *, int *, float  *);
 int BLASFUNC(zspr2) (char *, int *, double  *,
-         double *, int *, double *, int *, double *);
+		     double *, int *, double *, int *, double *);
 int BLASFUNC(xspr2) (char *, int *, double  *,
-         double *, int *, double *, int *, double *);
+		     double *, int *, double *, int *, double *);
 
 int BLASFUNC(cher) (char *, int *, float   *, float  *, int *,
-        float  *, int *);
+		    float  *, int *);
 int BLASFUNC(zher) (char *, int *, double  *, double *, int *,
-        double *, int *);
+		    double *, int *);
 int BLASFUNC(xher) (char *, int *, double  *, double *, int *,
-        double *, int *);
+		    double *, int *);
 
 int BLASFUNC(chpr) (char *, int *, float   *, float  *, int *, float  *);
 int BLASFUNC(zhpr) (char *, int *, double  *, double *, int *, double *);
 int BLASFUNC(xhpr) (char *, int *, double  *, double *, int *, double *);
 
 int BLASFUNC(cher2) (char *, int *, float   *,
-         float  *, int *, float  *, int *, float  *, int *);
+		     float  *, int *, float  *, int *, float  *, int *);
 int BLASFUNC(zher2) (char *, int *, double  *,
-         double *, int *, double *, int *, double *, int *);
+		     double *, int *, double *, int *, double *, int *);
 int BLASFUNC(xher2) (char *, int *, double  *,
-         double *, int *, double *, int *, double *, int *);
+		     double *, int *, double *, int *, double *, int *);
 
 int BLASFUNC(chpr2) (char *, int *, float   *,
-         float  *, int *, float  *, int *, float  *);
+		     float  *, int *, float  *, int *, float  *);
 int BLASFUNC(zhpr2) (char *, int *, double  *,
-         double *, int *, double *, int *, double *);
+		     double *, int *, double *, int *, double *);
 int BLASFUNC(xhpr2) (char *, int *, double  *,
-         double *, int *, double *, int *, double *);
+		     double *, int *, double *, int *, double *);
 
 int BLASFUNC(chemv) (char *, int *, float  *, float *, int *,
-         float  *, int *, float *, float *, int *);
+		     float  *, int *, float *, float *, int *);
 int BLASFUNC(zhemv) (char *, int *, double  *, double *, int *,
-         double  *, int *, double *, double *, int *);
+		     double  *, int *, double *, double *, int *);
 int BLASFUNC(xhemv) (char *, int *, double  *, double *, int *,
-         double  *, int *, double *, double *, int *);
+		     double  *, int *, double *, double *, int *);
 
 int BLASFUNC(chpmv) (char *, int *, float  *, float *,
-         float  *, int *, float *, float *, int *);
+		     float  *, int *, float *, float *, int *);
 int BLASFUNC(zhpmv) (char *, int *, double  *, double *,
-         double  *, int *, double *, double *, int *);
+		     double  *, int *, double *, double *, int *);
 int BLASFUNC(xhpmv) (char *, int *, double  *, double *,
-         double  *, int *, double *, double *, int *);
+		     double  *, int *, double *, double *, int *);
 
 int BLASFUNC(snorm)(char *, int *, int *, float  *, int *);
 int BLASFUNC(dnorm)(char *, int *, int *, double *, int *);
@@ -367,205 +367,205 @@ int BLASFUNC(cnorm)(char *, int *, int *, float  *, int *);
 int BLASFUNC(znorm)(char *, int *, int *, double *, int *);
 
 int BLASFUNC(sgbmv)(char *, int *, int *, int *, int *, float  *, float  *, int *,
-        float  *, int *, float  *, float  *, int *);
+		    float  *, int *, float  *, float  *, int *);
 int BLASFUNC(dgbmv)(char *, int *, int *, int *, int *, double *, double *, int *,
-        double *, int *, double *, double *, int *);
+		    double *, int *, double *, double *, int *);
 int BLASFUNC(qgbmv)(char *, int *, int *, int *, int *, double *, double *, int *,
-        double *, int *, double *, double *, int *);
+		    double *, int *, double *, double *, int *);
 int BLASFUNC(cgbmv)(char *, int *, int *, int *, int *, float  *, float  *, int *,
-        float  *, int *, float  *, float  *, int *);
+		    float  *, int *, float  *, float  *, int *);
 int BLASFUNC(zgbmv)(char *, int *, int *, int *, int *, double *, double *, int *,
-        double *, int *, double *, double *, int *);
+		    double *, int *, double *, double *, int *);
 int BLASFUNC(xgbmv)(char *, int *, int *, int *, int *, double *, double *, int *,
-        double *, int *, double *, double *, int *);
+		    double *, int *, double *, double *, int *);
 
 int BLASFUNC(ssbmv)(char *, int *, int *, float  *, float  *, int *,
-        float  *, int *, float  *, float  *, int *);
+		    float  *, int *, float  *, float  *, int *);
 int BLASFUNC(dsbmv)(char *, int *, int *, double *, double *, int *,
-        double *, int *, double *, double *, int *);
+		    double *, int *, double *, double *, int *);
 int BLASFUNC(qsbmv)(char *, int *, int *, double *, double *, int *,
-        double *, int *, double *, double *, int *);
+		    double *, int *, double *, double *, int *);
 int BLASFUNC(csbmv)(char *, int *, int *, float  *, float  *, int *,
-        float  *, int *, float  *, float  *, int *);
+		    float  *, int *, float  *, float  *, int *);
 int BLASFUNC(zsbmv)(char *, int *, int *, double *, double *, int *,
-        double *, int *, double *, double *, int *);
+		    double *, int *, double *, double *, int *);
 int BLASFUNC(xsbmv)(char *, int *, int *, double *, double *, int *,
-        double *, int *, double *, double *, int *);
+		    double *, int *, double *, double *, int *);
 
 int BLASFUNC(chbmv)(char *, int *, int *, float  *, float  *, int *,
-        float  *, int *, float  *, float  *, int *);
+		    float  *, int *, float  *, float  *, int *);
 int BLASFUNC(zhbmv)(char *, int *, int *, double *, double *, int *,
-        double *, int *, double *, double *, int *);
+		    double *, int *, double *, double *, int *);
 int BLASFUNC(xhbmv)(char *, int *, int *, double *, double *, int *,
-        double *, int *, double *, double *, int *);
+		    double *, int *, double *, double *, int *);
 
 /* Level 3 routines */
 
 int BLASFUNC(sgemm)(char *, char *, int *, int *, int *, float *,
-     float  *, int *, float  *, int *, float  *, float  *, int *);
+	   float  *, int *, float  *, int *, float  *, float  *, int *);
 int BLASFUNC(dgemm)(char *, char *, int *, int *, int *, double *,
-     double *, int *, double *, int *, double *, double *, int *);
+	   double *, int *, double *, int *, double *, double *, int *);
 int BLASFUNC(qgemm)(char *, char *, int *, int *, int *, double *,
-     double *, int *, double *, int *, double *, double *, int *);
+	   double *, int *, double *, int *, double *, double *, int *);
 int BLASFUNC(cgemm)(char *, char *, int *, int *, int *, float *,
-     float  *, int *, float  *, int *, float  *, float  *, int *);
+	   float  *, int *, float  *, int *, float  *, float  *, int *);
 int BLASFUNC(zgemm)(char *, char *, int *, int *, int *, double *,
-     double *, int *, double *, int *, double *, double *, int *);
+	   double *, int *, double *, int *, double *, double *, int *);
 int BLASFUNC(xgemm)(char *, char *, int *, int *, int *, double *,
-     double *, int *, double *, int *, double *, double *, int *);
+	   double *, int *, double *, int *, double *, double *, int *);
 
 int BLASFUNC(cgemm3m)(char *, char *, int *, int *, int *, float *,
-     float  *, int *, float  *, int *, float  *, float  *, int *);
+	   float  *, int *, float  *, int *, float  *, float  *, int *);
 int BLASFUNC(zgemm3m)(char *, char *, int *, int *, int *, double *,
-     double *, int *, double *, int *, double *, double *, int *);
+	   double *, int *, double *, int *, double *, double *, int *);
 int BLASFUNC(xgemm3m)(char *, char *, int *, int *, int *, double *,
-     double *, int *, double *, int *, double *, double *, int *);
+	   double *, int *, double *, int *, double *, double *, int *);
 
 int BLASFUNC(sge2mm)(char *, char *, char *, int *, int *,
-         float *, float  *, int *, float  *, int *,
-         float *, float  *, int *);
+		     float *, float  *, int *, float  *, int *,
+		     float *, float  *, int *);
 int BLASFUNC(dge2mm)(char *, char *, char *, int *, int *,
-         double *, double  *, int *, double  *, int *,
-         double *, double  *, int *);
+		     double *, double  *, int *, double  *, int *,
+		     double *, double  *, int *);
 int BLASFUNC(cge2mm)(char *, char *, char *, int *, int *,
-         float *, float  *, int *, float  *, int *,
-         float *, float  *, int *);
+		     float *, float  *, int *, float  *, int *,
+		     float *, float  *, int *);
 int BLASFUNC(zge2mm)(char *, char *, char *, int *, int *,
-         double *, double  *, int *, double  *, int *,
-         double *, double  *, int *);
+		     double *, double  *, int *, double  *, int *,
+		     double *, double  *, int *);
 
 int BLASFUNC(strsm)(char *, char *, char *, char *, int *, int *,
-     float *,  float *, int *, float *, int *);
+	   float *,  float *, int *, float *, int *);
 int BLASFUNC(dtrsm)(char *, char *, char *, char *, int *, int *,
-     double *,  double *, int *, double *, int *);
+	   double *,  double *, int *, double *, int *);
 int BLASFUNC(qtrsm)(char *, char *, char *, char *, int *, int *,
-     double *,  double *, int *, double *, int *);
+	   double *,  double *, int *, double *, int *);
 int BLASFUNC(ctrsm)(char *, char *, char *, char *, int *, int *,
-     float *,  float *, int *, float *, int *);
+	   float *,  float *, int *, float *, int *);
 int BLASFUNC(ztrsm)(char *, char *, char *, char *, int *, int *,
-     double *,  double *, int *, double *, int *);
+	   double *,  double *, int *, double *, int *);
 int BLASFUNC(xtrsm)(char *, char *, char *, char *, int *, int *,
-     double *,  double *, int *, double *, int *);
+	   double *,  double *, int *, double *, int *);
 
 int BLASFUNC(strmm)(char *, char *, char *, char *, int *, int *,
-     float *,  float *, int *, float *, int *);
+	   float *,  float *, int *, float *, int *);
 int BLASFUNC(dtrmm)(char *, char *, char *, char *, int *, int *,
-     double *,  double *, int *, double *, int *);
+	   double *,  double *, int *, double *, int *);
 int BLASFUNC(qtrmm)(char *, char *, char *, char *, int *, int *,
-     double *,  double *, int *, double *, int *);
+	   double *,  double *, int *, double *, int *);
 int BLASFUNC(ctrmm)(char *, char *, char *, char *, int *, int *,
-     float *,  float *, int *, float *, int *);
+	   float *,  float *, int *, float *, int *);
 int BLASFUNC(ztrmm)(char *, char *, char *, char *, int *, int *,
-     double *,  double *, int *, double *, int *);
+	   double *,  double *, int *, double *, int *);
 int BLASFUNC(xtrmm)(char *, char *, char *, char *, int *, int *,
-     double *,  double *, int *, double *, int *);
+	   double *,  double *, int *, double *, int *);
 
 int BLASFUNC(ssymm)(char *, char *, int *, int *, float  *, float  *, int *,
-     float  *, int *, float  *, float  *, int *);
+	   float  *, int *, float  *, float  *, int *);
 int BLASFUNC(dsymm)(char *, char *, int *, int *, double *, double *, int *,
-     double *, int *, double *, double *, int *);
+	   double *, int *, double *, double *, int *);
 int BLASFUNC(qsymm)(char *, char *, int *, int *, double *, double *, int *,
-     double *, int *, double *, double *, int *);
+	   double *, int *, double *, double *, int *);
 int BLASFUNC(csymm)(char *, char *, int *, int *, float  *, float  *, int *,
-     float  *, int *, float  *, float  *, int *);
+	   float  *, int *, float  *, float  *, int *);
 int BLASFUNC(zsymm)(char *, char *, int *, int *, double *, double *, int *,
-     double *, int *, double *, double *, int *);
+	   double *, int *, double *, double *, int *);
 int BLASFUNC(xsymm)(char *, char *, int *, int *, double *, double *, int *,
-     double *, int *, double *, double *, int *);
+	   double *, int *, double *, double *, int *);
 
 int BLASFUNC(csymm3m)(char *, char *, int *, int *, float  *, float  *, int *,
-     float  *, int *, float  *, float  *, int *);
+	   float  *, int *, float  *, float  *, int *);
 int BLASFUNC(zsymm3m)(char *, char *, int *, int *, double *, double *, int *,
-     double *, int *, double *, double *, int *);
+	   double *, int *, double *, double *, int *);
 int BLASFUNC(xsymm3m)(char *, char *, int *, int *, double *, double *, int *,
-     double *, int *, double *, double *, int *);
+	   double *, int *, double *, double *, int *);
 
 int BLASFUNC(ssyrk)(char *, char *, int *, int *, float  *, float  *, int *,
-     float  *, float  *, int *);
+	   float  *, float  *, int *);
 int BLASFUNC(dsyrk)(char *, char *, int *, int *, double *, double *, int *,
-     double *, double *, int *);
+	   double *, double *, int *);
 int BLASFUNC(qsyrk)(char *, char *, int *, int *, double *, double *, int *,
-     double *, double *, int *);
+	   double *, double *, int *);
 int BLASFUNC(csyrk)(char *, char *, int *, int *, float  *, float  *, int *,
-     float  *, float  *, int *);
+	   float  *, float  *, int *);
 int BLASFUNC(zsyrk)(char *, char *, int *, int *, double *, double *, int *,
-     double *, double *, int *);
+	   double *, double *, int *);
 int BLASFUNC(xsyrk)(char *, char *, int *, int *, double *, double *, int *,
-     double *, double *, int *);
+	   double *, double *, int *);
 
 int BLASFUNC(ssyr2k)(char *, char *, int *, int *, float  *, float  *, int *,
-     float *, int *, float  *, float  *, int *);
+	   float *, int *, float  *, float  *, int *);
 int BLASFUNC(dsyr2k)(char *, char *, int *, int *, double *, double *, int *,
-     double*, int *, double *, double *, int *);
+	   double*, int *, double *, double *, int *);
 int BLASFUNC(qsyr2k)(char *, char *, int *, int *, double *, double *, int *,
-     double*, int *, double *, double *, int *);
+	   double*, int *, double *, double *, int *);
 int BLASFUNC(csyr2k)(char *, char *, int *, int *, float  *, float  *, int *,
-     float *, int *, float  *, float  *, int *);
+	   float *, int *, float  *, float  *, int *);
 int BLASFUNC(zsyr2k)(char *, char *, int *, int *, double *, double *, int *,
-     double*, int *, double *, double *, int *);
+	   double*, int *, double *, double *, int *);
 int BLASFUNC(xsyr2k)(char *, char *, int *, int *, double *, double *, int *,
-     double*, int *, double *, double *, int *);
+	   double*, int *, double *, double *, int *);
 
 int BLASFUNC(chemm)(char *, char *, int *, int *, float  *, float  *, int *,
-     float  *, int *, float  *, float  *, int *);
+	   float  *, int *, float  *, float  *, int *);
 int BLASFUNC(zhemm)(char *, char *, int *, int *, double *, double *, int *,
-     double *, int *, double *, double *, int *);
+	   double *, int *, double *, double *, int *);
 int BLASFUNC(xhemm)(char *, char *, int *, int *, double *, double *, int *,
-     double *, int *, double *, double *, int *);
+	   double *, int *, double *, double *, int *);
 
 int BLASFUNC(chemm3m)(char *, char *, int *, int *, float  *, float  *, int *,
-     float  *, int *, float  *, float  *, int *);
+	   float  *, int *, float  *, float  *, int *);
 int BLASFUNC(zhemm3m)(char *, char *, int *, int *, double *, double *, int *,
-     double *, int *, double *, double *, int *);
+	   double *, int *, double *, double *, int *);
 int BLASFUNC(xhemm3m)(char *, char *, int *, int *, double *, double *, int *,
-     double *, int *, double *, double *, int *);
+	   double *, int *, double *, double *, int *);
 
 int BLASFUNC(cherk)(char *, char *, int *, int *, float  *, float  *, int *,
-     float  *, float  *, int *);
+	   float  *, float  *, int *);
 int BLASFUNC(zherk)(char *, char *, int *, int *, double *, double *, int *,
-     double *, double *, int *);
+	   double *, double *, int *);
 int BLASFUNC(xherk)(char *, char *, int *, int *, double *, double *, int *,
-     double *, double *, int *);
+	   double *, double *, int *);
 
 int BLASFUNC(cher2k)(char *, char *, int *, int *, float  *, float  *, int *,
-     float *, int *, float  *, float  *, int *);
+	   float *, int *, float  *, float  *, int *);
 int BLASFUNC(zher2k)(char *, char *, int *, int *, double *, double *, int *,
-     double*, int *, double *, double *, int *);
+	   double*, int *, double *, double *, int *);
 int BLASFUNC(xher2k)(char *, char *, int *, int *, double *, double *, int *,
-     double*, int *, double *, double *, int *);
+	   double*, int *, double *, double *, int *);
 int BLASFUNC(cher2m)(char *, char *, char *, int *, int *, float  *, float  *, int *,
-     float *, int *, float  *, float  *, int *);
+	   float *, int *, float  *, float  *, int *);
 int BLASFUNC(zher2m)(char *, char *, char *, int *, int *, double *, double *, int *,
-     double*, int *, double *, double *, int *);
+	   double*, int *, double *, double *, int *);
 int BLASFUNC(xher2m)(char *, char *, char *, int *, int *, double *, double *, int *,
-     double*, int *, double *, double *, int *);
+	   double*, int *, double *, double *, int *);
 
 int BLASFUNC(sgemt)(char *, int *, int *, float  *, float  *, int *,
-        float  *, int *);
+		    float  *, int *);
 int BLASFUNC(dgemt)(char *, int *, int *, double *, double *, int *,
-        double *, int *);
+		    double *, int *);
 int BLASFUNC(cgemt)(char *, int *, int *, float  *, float  *, int *,
-        float  *, int *);
+		    float  *, int *);
 int BLASFUNC(zgemt)(char *, int *, int *, double *, double *, int *,
-        double *, int *);
+		    double *, int *);
 
 int BLASFUNC(sgema)(char *, char *, int *, int *, float  *,
-        float  *, int *, float *, float  *, int *, float *, int *);
+		    float  *, int *, float *, float  *, int *, float *, int *);
 int BLASFUNC(dgema)(char *, char *, int *, int *, double *,
-        double *, int *, double*, double *, int *, double*, int *);
+		    double *, int *, double*, double *, int *, double*, int *);
 int BLASFUNC(cgema)(char *, char *, int *, int *, float  *,
-        float  *, int *, float *, float  *, int *, float *, int *);
+		    float  *, int *, float *, float  *, int *, float *, int *);
 int BLASFUNC(zgema)(char *, char *, int *, int *, double *,
-        double *, int *, double*, double *, int *, double*, int *);
+		    double *, int *, double*, double *, int *, double*, int *);
 
 int BLASFUNC(sgems)(char *, char *, int *, int *, float  *,
-        float  *, int *, float *, float  *, int *, float *, int *);
+		    float  *, int *, float *, float  *, int *, float *, int *);
 int BLASFUNC(dgems)(char *, char *, int *, int *, double *,
-        double *, int *, double*, double *, int *, double*, int *);
+		    double *, int *, double*, double *, int *, double*, int *);
 int BLASFUNC(cgems)(char *, char *, int *, int *, float  *,
-        float  *, int *, float *, float  *, int *, float *, int *);
+		    float  *, int *, float *, float  *, int *, float *, int *);
 int BLASFUNC(zgems)(char *, char *, int *, int *, double *,
-        double *, int *, double*, double *, int *, double*, int *);
+		    double *, int *, double*, double *, int *, double*, int *);
 
 int BLASFUNC(sgetf2)(int *, int *, float  *, int *, int *, int *);
 int BLASFUNC(dgetf2)(int *, int *, double *, int *, int *, int *);
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/plugins/ArrayCwiseBinaryOps.h b/gtsam/3rdparty/Eigen/Eigen/src/plugins/ArrayCwiseBinaryOps.h
index 5b979ebf8..1e751ad62 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/plugins/ArrayCwiseBinaryOps.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/plugins/ArrayCwiseBinaryOps.h
@@ -33,7 +33,8 @@ EIGEN_MAKE_CWISE_BINARY_OP(min,internal::scalar_min_op)
   *
   * \sa max()
   */
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar>, const Derived, const ConstantReturnType>
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar>, const Derived,
+                                        const CwiseNullaryOp<internal::scalar_constant_op<Scalar>, PlainObject> >
 (min)(const Scalar &other) const
 {
   return (min)(Derived::PlainObject::Constant(rows(), cols(), other));
@@ -52,7 +53,8 @@ EIGEN_MAKE_CWISE_BINARY_OP(max,internal::scalar_max_op)
   *
   * \sa min()
   */
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar>, const Derived, const ConstantReturnType>
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar>, const Derived,
+                                        const CwiseNullaryOp<internal::scalar_constant_op<Scalar>, PlainObject> >
 (max)(const Scalar &other) const
 {
   return (max)(Derived::PlainObject::Constant(rows(), cols(), other));
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/plugins/ArrayCwiseUnaryOps.h b/gtsam/3rdparty/Eigen/Eigen/src/plugins/ArrayCwiseUnaryOps.h
index 0dffaf413..a59636790 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/plugins/ArrayCwiseUnaryOps.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/plugins/ArrayCwiseUnaryOps.h
@@ -200,3 +200,4 @@ EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator<=,  std::less_equal)
 EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator>,   std::greater)
 EIGEN_MAKE_SCALAR_CWISE_UNARY_OP(operator>=,  std::greater_equal)
 
+
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/plugins/BlockMethods.h b/gtsam/3rdparty/Eigen/Eigen/src/plugins/BlockMethods.h
index 4eba93338..ef224001a 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/plugins/BlockMethods.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/plugins/BlockMethods.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2010 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_BLOCKMETHODS_H
 #define EIGEN_BLOCKMETHODS_H
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/plugins/CommonCwiseBinaryOps.h b/gtsam/3rdparty/Eigen/Eigen/src/plugins/CommonCwiseBinaryOps.h
index 8f7765e72..688d22440 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/plugins/CommonCwiseBinaryOps.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/plugins/CommonCwiseBinaryOps.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 // This file is a base class plugin containing common coefficient wise functions.
 
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/plugins/CommonCwiseUnaryOps.h b/gtsam/3rdparty/Eigen/Eigen/src/plugins/CommonCwiseUnaryOps.h
index 941d5153c..08e931aad 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/plugins/CommonCwiseUnaryOps.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/plugins/CommonCwiseUnaryOps.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 // This file is a base class plugin containing common coefficient wise functions.
 
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/plugins/MatrixCwiseBinaryOps.h b/gtsam/3rdparty/Eigen/Eigen/src/plugins/MatrixCwiseBinaryOps.h
index 566f4c1f4..3a737df7b 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/plugins/MatrixCwiseBinaryOps.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/plugins/MatrixCwiseBinaryOps.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 // This file is a base class plugin containing matrix specifics coefficient wise functions.
 
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/plugins/MatrixCwiseUnaryOps.h b/gtsam/3rdparty/Eigen/Eigen/src/plugins/MatrixCwiseUnaryOps.h
index a3d9a0e14..0cf0640ba 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/plugins/MatrixCwiseUnaryOps.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/plugins/MatrixCwiseUnaryOps.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 // This file is a base class plugin containing matrix specifics coefficient wise functions.
 
diff --git a/gtsam/3rdparty/Eigen/bench/BenchTimer.h b/gtsam/3rdparty/Eigen/bench/BenchTimer.h
index 37b37e921..28e2bcaea 100644
--- a/gtsam/3rdparty/Eigen/bench/BenchTimer.h
+++ b/gtsam/3rdparty/Eigen/bench/BenchTimer.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_BENCH_TIMERR_H
 #define EIGEN_BENCH_TIMERR_H
diff --git a/gtsam/3rdparty/Eigen/bench/benchFFT.cpp b/gtsam/3rdparty/Eigen/bench/benchFFT.cpp
index c3d5da7a1..3eb1a1ac0 100644
--- a/gtsam/3rdparty/Eigen/bench/benchFFT.cpp
+++ b/gtsam/3rdparty/Eigen/bench/benchFFT.cpp
@@ -1,26 +1,11 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
 // Copyright (C) 2009 Mark Borgerding mark a borgerding net
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include <iostream>
 
diff --git a/gtsam/3rdparty/Eigen/bench/benchmarkX.cpp b/gtsam/3rdparty/Eigen/bench/benchmarkX.cpp
index b0950c8f1..8e4b60c2b 100644
--- a/gtsam/3rdparty/Eigen/bench/benchmarkX.cpp
+++ b/gtsam/3rdparty/Eigen/bench/benchmarkX.cpp
@@ -21,16 +21,16 @@ using namespace Eigen;
 
 int main(int argc, char *argv[])
 {
-  MATTYPE I = MATTYPE::Ones(MATSIZE,MATSIZE);
-  MATTYPE m(MATSIZE,MATSIZE);
-  for(int i = 0; i < MATSIZE; i++) for(int j = 0; j < MATSIZE; j++)
-  {
-    m(i,j) = (i+j+1)/(MATSIZE*MATSIZE);
-  }
-  for(int a = 0; a < REPEAT; a++)
-  {
-    m = I + 0.0001 * (m + m*m);
-  }
-  cout << m(0,0) << endl;
-  return 0;
+	MATTYPE I = MATTYPE::Ones(MATSIZE,MATSIZE);
+	MATTYPE m(MATSIZE,MATSIZE);
+	for(int i = 0; i < MATSIZE; i++) for(int j = 0; j < MATSIZE; j++)
+	{
+		m(i,j) = (i+j+1)/(MATSIZE*MATSIZE);
+	}
+	for(int a = 0; a < REPEAT; a++)
+	{
+		m = I + 0.0001 * (m + m*m);
+	}
+	cout << m(0,0) << endl;
+	return 0;
 }
diff --git a/gtsam/3rdparty/Eigen/bench/benchmarkXcwise.cpp b/gtsam/3rdparty/Eigen/bench/benchmarkXcwise.cpp
index b798d4f51..62437435e 100644
--- a/gtsam/3rdparty/Eigen/bench/benchmarkXcwise.cpp
+++ b/gtsam/3rdparty/Eigen/bench/benchmarkXcwise.cpp
@@ -20,16 +20,16 @@ using namespace Eigen;
 
 int main(int argc, char *argv[])
 {
-  VECTYPE I = VECTYPE::Ones(VECSIZE);
-  VECTYPE m(VECSIZE,1);
-  for(int i = 0; i < VECSIZE; i++)
-  {
-    m[i] = 0.1 * i/VECSIZE;
-  }
-  for(int a = 0; a < REPEAT; a++)
-  {
-    m = VECTYPE::Ones(VECSIZE) + 0.00005 * (m.cwise().square() + m/4);
-  }
-  cout << m[0] << endl;
-  return 0;
+	VECTYPE I = VECTYPE::Ones(VECSIZE);
+	VECTYPE m(VECSIZE,1);
+	for(int i = 0; i < VECSIZE; i++)
+	{
+		m[i] = 0.1 * i/VECSIZE;
+	}
+	for(int a = 0; a < REPEAT; a++)
+	{
+		m = VECTYPE::Ones(VECSIZE) + 0.00005 * (m.cwise().square() + m/4);
+	}
+	cout << m[0] << endl;
+	return 0;
 }
diff --git a/gtsam/3rdparty/Eigen/bench/btl/generic_bench/utils/utilities.h b/gtsam/3rdparty/Eigen/bench/btl/generic_bench/utils/utilities.h
index bee46e454..d2330d06b 100644
--- a/gtsam/3rdparty/Eigen/bench/btl/generic_bench/utils/utilities.h
+++ b/gtsam/3rdparty/Eigen/bench/btl/generic_bench/utils/utilities.h
@@ -25,30 +25,30 @@
 /* --- To print date and time of compilation of current source on stdout --- */
 
 # if defined ( __GNUC__ )
-# define COMPILER    "g++" ;
+# define COMPILER		"g++" ;
 # elif defined ( __sun )
-# define COMPILER    "CC" ;
+# define COMPILER		"CC" ;
 # elif defined ( __KCC )
-# define COMPILER    "KCC" ;
+# define COMPILER		"KCC" ;
 # elif defined ( __PGI )
-# define COMPILER    "pgCC" ;
+# define COMPILER		"pgCC" ;
 # else
-# define COMPILER    "undefined" ;
+# define COMPILER		"undefined" ;
 # endif
 
 # ifdef INFOS_COMPILATION
 # error INFOS_COMPILATION already defined
 # endif
-# define INFOS_COMPILATION  {\
-          cerr << flush;\
-          cout << __FILE__ ;\
-          cout << " [" << __LINE__ << "] : " ;\
-          cout << "COMPILED with " << COMPILER ;\
-          cout << ", " << __DATE__ ; \
-          cout << " at " << __TIME__ << endl ;\
-          cout << "\n\n" ;\
-          cout << flush ;\
-        }
+# define INFOS_COMPILATION	{\
+					cerr << flush;\
+					cout << __FILE__ ;\
+					cout << " [" << __LINE__ << "] : " ;\
+					cout << "COMPILED with " << COMPILER ;\
+					cout << ", " << __DATE__ ; \
+					cout << " at " << __TIME__ << endl ;\
+					cout << "\n\n" ;\
+					cout << flush ;\
+				}
 
 # ifdef _DEBUG_
 
diff --git a/gtsam/3rdparty/Eigen/bench/btl/libs/BLAS/blas.h b/gtsam/3rdparty/Eigen/bench/btl/libs/BLAS/blas.h
index 2ab9c4b9d..28f3a4e57 100644
--- a/gtsam/3rdparty/Eigen/bench/btl/libs/BLAS/blas.h
+++ b/gtsam/3rdparty/Eigen/bench/btl/libs/BLAS/blas.h
@@ -180,49 +180,49 @@ int    BLASFUNC(qrotm) (int *, double *, int *, double *, int *, double *);
 /* Level 2 routines */
 
 int BLASFUNC(sger)(int *,    int *, float *,  float *, int *,
-       float *,  int *, float *,  int *);
+		   float *,  int *, float *,  int *);
 int BLASFUNC(dger)(int *,    int *, double *, double *, int *,
-       double *, int *, double *, int *);
+		   double *, int *, double *, int *);
 int BLASFUNC(qger)(int *,    int *, double *, double *, int *,
-       double *, int *, double *, int *);
+		   double *, int *, double *, int *);
 int BLASFUNC(cgeru)(int *,    int *, float *,  float *, int *,
-        float *,  int *, float *,  int *);
+		    float *,  int *, float *,  int *);
 int BLASFUNC(cgerc)(int *,    int *, float *,  float *, int *,
-        float *,  int *, float *,  int *);
+		    float *,  int *, float *,  int *);
 int BLASFUNC(zgeru)(int *,    int *, double *, double *, int *,
-        double *, int *, double *, int *);
+		    double *, int *, double *, int *);
 int BLASFUNC(zgerc)(int *,    int *, double *, double *, int *,
-        double *, int *, double *, int *);
+		    double *, int *, double *, int *);
 int BLASFUNC(xgeru)(int *,    int *, double *, double *, int *,
-        double *, int *, double *, int *);
+		    double *, int *, double *, int *);
 int BLASFUNC(xgerc)(int *,    int *, double *, double *, int *,
-        double *, int *, double *, int *);
+		    double *, int *, double *, int *);
 
 int BLASFUNC(sgemv)(char *, int *, int *, float  *, float  *, int *,
-        float  *, int *, float  *, float  *, int *);
+		    float  *, int *, float  *, float  *, int *);
 int BLASFUNC(dgemv)(char *, int *, int *, double *, double *, int *,
-        double *, int *, double *, double *, int *);
+		    double *, int *, double *, double *, int *);
 int BLASFUNC(qgemv)(char *, int *, int *, double *, double *, int *,
-        double *, int *, double *, double *, int *);
+		    double *, int *, double *, double *, int *);
 int BLASFUNC(cgemv)(char *, int *, int *, float  *, float  *, int *,
-        float  *, int *, float  *, float  *, int *);
+		    float  *, int *, float  *, float  *, int *);
 int BLASFUNC(zgemv)(char *, int *, int *, double *, double *, int *,
-        double *, int *, double *, double *, int *);
+		    double *, int *, double *, double *, int *);
 int BLASFUNC(xgemv)(char *, int *, int *, double *, double *, int *,
-        double *, int *, double *, double *, int *);
+		    double *, int *, double *, double *, int *);
 
 int BLASFUNC(strsv) (char *, char *, char *, int *, float  *, int *,
-         float  *, int *);
+		     float  *, int *);
 int BLASFUNC(dtrsv) (char *, char *, char *, int *, double *, int *,
-         double *, int *);
+		     double *, int *);
 int BLASFUNC(qtrsv) (char *, char *, char *, int *, double *, int *,
-         double *, int *);
+		     double *, int *);
 int BLASFUNC(ctrsv) (char *, char *, char *, int *, float  *, int *,
-         float  *, int *);
+		     float  *, int *);
 int BLASFUNC(ztrsv) (char *, char *, char *, int *, double *, int *,
-         double *, int *);
+		     double *, int *);
 int BLASFUNC(xtrsv) (char *, char *, char *, int *, double *, int *,
-         double *, int *);
+		     double *, int *);
 
 int BLASFUNC(stpsv) (char *, char *, char *, int *, float  *, float  *, int *);
 int BLASFUNC(dtpsv) (char *, char *, char *, int *, double *, double *, int *);
@@ -232,17 +232,17 @@ int BLASFUNC(ztpsv) (char *, char *, char *, int *, double *, double *, int *);
 int BLASFUNC(xtpsv) (char *, char *, char *, int *, double *, double *, int *);
 
 int BLASFUNC(strmv) (char *, char *, char *, int *, float  *, int *,
-         float  *, int *);
+		     float  *, int *);
 int BLASFUNC(dtrmv) (char *, char *, char *, int *, double *, int *,
-         double *, int *);
+		     double *, int *);
 int BLASFUNC(qtrmv) (char *, char *, char *, int *, double *, int *,
-         double *, int *);
+		     double *, int *);
 int BLASFUNC(ctrmv) (char *, char *, char *, int *, float  *, int *,
-         float  *, int *);
+		     float  *, int *);
 int BLASFUNC(ztrmv) (char *, char *, char *, int *, double *, int *,
-         double *, int *);
+		     double *, int *);
 int BLASFUNC(xtrmv) (char *, char *, char *, int *, double *, int *,
-         double *, int *);
+		     double *, int *);
 
 int BLASFUNC(stpmv) (char *, char *, char *, int *, float  *, float  *, int *);
 int BLASFUNC(dtpmv) (char *, char *, char *, int *, double *, double *, int *);
@@ -266,121 +266,121 @@ int BLASFUNC(ztbsv) (char *, char *, char *, int *, int *, double *, int *, doub
 int BLASFUNC(xtbsv) (char *, char *, char *, int *, int *, double *, int *, double *, int *);
 
 int BLASFUNC(ssymv) (char *, int *, float  *, float *, int *,
-         float  *, int *, float *, float *, int *);
+		     float  *, int *, float *, float *, int *);
 int BLASFUNC(dsymv) (char *, int *, double  *, double *, int *,
-         double  *, int *, double *, double *, int *);
+		     double  *, int *, double *, double *, int *);
 int BLASFUNC(qsymv) (char *, int *, double  *, double *, int *,
-         double  *, int *, double *, double *, int *);
+		     double  *, int *, double *, double *, int *);
 int BLASFUNC(csymv) (char *, int *, float  *, float *, int *,
-         float  *, int *, float *, float *, int *);
+		     float  *, int *, float *, float *, int *);
 int BLASFUNC(zsymv) (char *, int *, double  *, double *, int *,
-         double  *, int *, double *, double *, int *);
+		     double  *, int *, double *, double *, int *);
 int BLASFUNC(xsymv) (char *, int *, double  *, double *, int *,
-         double  *, int *, double *, double *, int *);
+		     double  *, int *, double *, double *, int *);
 
 int BLASFUNC(sspmv) (char *, int *, float  *, float *,
-         float  *, int *, float *, float *, int *);
+		     float  *, int *, float *, float *, int *);
 int BLASFUNC(dspmv) (char *, int *, double  *, double *,
-         double  *, int *, double *, double *, int *);
+		     double  *, int *, double *, double *, int *);
 int BLASFUNC(qspmv) (char *, int *, double  *, double *,
-         double  *, int *, double *, double *, int *);
+		     double  *, int *, double *, double *, int *);
 int BLASFUNC(cspmv) (char *, int *, float  *, float *,
-         float  *, int *, float *, float *, int *);
+		     float  *, int *, float *, float *, int *);
 int BLASFUNC(zspmv) (char *, int *, double  *, double *,
-         double  *, int *, double *, double *, int *);
+		     double  *, int *, double *, double *, int *);
 int BLASFUNC(xspmv) (char *, int *, double  *, double *,
-         double  *, int *, double *, double *, int *);
+		     double  *, int *, double *, double *, int *);
 
 int BLASFUNC(ssyr) (char *, int *, float   *, float  *, int *,
-        float  *, int *);
+		    float  *, int *);
 int BLASFUNC(dsyr) (char *, int *, double  *, double *, int *,
-        double *, int *);
+		    double *, int *);
 int BLASFUNC(qsyr) (char *, int *, double  *, double *, int *,
-        double *, int *);
+		    double *, int *);
 int BLASFUNC(csyr) (char *, int *, float   *, float  *, int *,
-        float  *, int *);
+		    float  *, int *);
 int BLASFUNC(zsyr) (char *, int *, double  *, double *, int *,
-        double *, int *);
+		    double *, int *);
 int BLASFUNC(xsyr) (char *, int *, double  *, double *, int *,
-        double *, int *);
+		    double *, int *);
 
 int BLASFUNC(ssyr2) (char *, int *, float   *,
-         float  *, int *, float  *, int *, float  *, int *);
+		     float  *, int *, float  *, int *, float  *, int *);
 int BLASFUNC(dsyr2) (char *, int *, double  *,
-         double *, int *, double *, int *, double *, int *);
+		     double *, int *, double *, int *, double *, int *);
 int BLASFUNC(qsyr2) (char *, int *, double  *,
-         double *, int *, double *, int *, double *, int *);
+		     double *, int *, double *, int *, double *, int *);
 int BLASFUNC(csyr2) (char *, int *, float   *,
-         float  *, int *, float  *, int *, float  *, int *);
+		     float  *, int *, float  *, int *, float  *, int *);
 int BLASFUNC(zsyr2) (char *, int *, double  *,
-         double *, int *, double *, int *, double *, int *);
+		     double *, int *, double *, int *, double *, int *);
 int BLASFUNC(xsyr2) (char *, int *, double  *,
-         double *, int *, double *, int *, double *, int *);
+		     double *, int *, double *, int *, double *, int *);
 
 int BLASFUNC(sspr) (char *, int *, float   *, float  *, int *,
-        float  *);
+		    float  *);
 int BLASFUNC(dspr) (char *, int *, double  *, double *, int *,
-        double *);
+		    double *);
 int BLASFUNC(qspr) (char *, int *, double  *, double *, int *,
-        double *);
+		    double *);
 int BLASFUNC(cspr) (char *, int *, float   *, float  *, int *,
-        float  *);
+		    float  *);
 int BLASFUNC(zspr) (char *, int *, double  *, double *, int *,
-        double *);
+		    double *);
 int BLASFUNC(xspr) (char *, int *, double  *, double *, int *,
-        double *);
+		    double *);
 
 int BLASFUNC(sspr2) (char *, int *, float   *,
-         float  *, int *, float  *, int *, float  *);
+		     float  *, int *, float  *, int *, float  *);
 int BLASFUNC(dspr2) (char *, int *, double  *,
-         double *, int *, double *, int *, double *);
+		     double *, int *, double *, int *, double *);
 int BLASFUNC(qspr2) (char *, int *, double  *,
-         double *, int *, double *, int *, double *);
+		     double *, int *, double *, int *, double *);
 int BLASFUNC(cspr2) (char *, int *, float   *,
-         float  *, int *, float  *, int *, float  *);
+		     float  *, int *, float  *, int *, float  *);
 int BLASFUNC(zspr2) (char *, int *, double  *,
-         double *, int *, double *, int *, double *);
+		     double *, int *, double *, int *, double *);
 int BLASFUNC(xspr2) (char *, int *, double  *,
-         double *, int *, double *, int *, double *);
+		     double *, int *, double *, int *, double *);
 
 int BLASFUNC(cher) (char *, int *, float   *, float  *, int *,
-        float  *, int *);
+		    float  *, int *);
 int BLASFUNC(zher) (char *, int *, double  *, double *, int *,
-        double *, int *);
+		    double *, int *);
 int BLASFUNC(xher) (char *, int *, double  *, double *, int *,
-        double *, int *);
+		    double *, int *);
 
 int BLASFUNC(chpr) (char *, int *, float   *, float  *, int *, float  *);
 int BLASFUNC(zhpr) (char *, int *, double  *, double *, int *, double *);
 int BLASFUNC(xhpr) (char *, int *, double  *, double *, int *, double *);
 
 int BLASFUNC(cher2) (char *, int *, float   *,
-         float  *, int *, float  *, int *, float  *, int *);
+		     float  *, int *, float  *, int *, float  *, int *);
 int BLASFUNC(zher2) (char *, int *, double  *,
-         double *, int *, double *, int *, double *, int *);
+		     double *, int *, double *, int *, double *, int *);
 int BLASFUNC(xher2) (char *, int *, double  *,
-         double *, int *, double *, int *, double *, int *);
+		     double *, int *, double *, int *, double *, int *);
 
 int BLASFUNC(chpr2) (char *, int *, float   *,
-         float  *, int *, float  *, int *, float  *);
+		     float  *, int *, float  *, int *, float  *);
 int BLASFUNC(zhpr2) (char *, int *, double  *,
-         double *, int *, double *, int *, double *);
+		     double *, int *, double *, int *, double *);
 int BLASFUNC(xhpr2) (char *, int *, double  *,
-         double *, int *, double *, int *, double *);
+		     double *, int *, double *, int *, double *);
 
 int BLASFUNC(chemv) (char *, int *, float  *, float *, int *,
-         float  *, int *, float *, float *, int *);
+		     float  *, int *, float *, float *, int *);
 int BLASFUNC(zhemv) (char *, int *, double  *, double *, int *,
-         double  *, int *, double *, double *, int *);
+		     double  *, int *, double *, double *, int *);
 int BLASFUNC(xhemv) (char *, int *, double  *, double *, int *,
-         double  *, int *, double *, double *, int *);
+		     double  *, int *, double *, double *, int *);
 
 int BLASFUNC(chpmv) (char *, int *, float  *, float *,
-         float  *, int *, float *, float *, int *);
+		     float  *, int *, float *, float *, int *);
 int BLASFUNC(zhpmv) (char *, int *, double  *, double *,
-         double  *, int *, double *, double *, int *);
+		     double  *, int *, double *, double *, int *);
 int BLASFUNC(xhpmv) (char *, int *, double  *, double *,
-         double  *, int *, double *, double *, int *);
+		     double  *, int *, double *, double *, int *);
 
 int BLASFUNC(snorm)(char *, int *, int *, float  *, int *);
 int BLASFUNC(dnorm)(char *, int *, int *, double *, int *);
@@ -388,205 +388,205 @@ int BLASFUNC(cnorm)(char *, int *, int *, float  *, int *);
 int BLASFUNC(znorm)(char *, int *, int *, double *, int *);
 
 int BLASFUNC(sgbmv)(char *, int *, int *, int *, int *, float  *, float  *, int *,
-        float  *, int *, float  *, float  *, int *);
+		    float  *, int *, float  *, float  *, int *);
 int BLASFUNC(dgbmv)(char *, int *, int *, int *, int *, double *, double *, int *,
-        double *, int *, double *, double *, int *);
+		    double *, int *, double *, double *, int *);
 int BLASFUNC(qgbmv)(char *, int *, int *, int *, int *, double *, double *, int *,
-        double *, int *, double *, double *, int *);
+		    double *, int *, double *, double *, int *);
 int BLASFUNC(cgbmv)(char *, int *, int *, int *, int *, float  *, float  *, int *,
-        float  *, int *, float  *, float  *, int *);
+		    float  *, int *, float  *, float  *, int *);
 int BLASFUNC(zgbmv)(char *, int *, int *, int *, int *, double *, double *, int *,
-        double *, int *, double *, double *, int *);
+		    double *, int *, double *, double *, int *);
 int BLASFUNC(xgbmv)(char *, int *, int *, int *, int *, double *, double *, int *,
-        double *, int *, double *, double *, int *);
+		    double *, int *, double *, double *, int *);
 
 int BLASFUNC(ssbmv)(char *, int *, int *, float  *, float  *, int *,
-        float  *, int *, float  *, float  *, int *);
+		    float  *, int *, float  *, float  *, int *);
 int BLASFUNC(dsbmv)(char *, int *, int *, double *, double *, int *,
-        double *, int *, double *, double *, int *);
+		    double *, int *, double *, double *, int *);
 int BLASFUNC(qsbmv)(char *, int *, int *, double *, double *, int *,
-        double *, int *, double *, double *, int *);
+		    double *, int *, double *, double *, int *);
 int BLASFUNC(csbmv)(char *, int *, int *, float  *, float  *, int *,
-        float  *, int *, float  *, float  *, int *);
+		    float  *, int *, float  *, float  *, int *);
 int BLASFUNC(zsbmv)(char *, int *, int *, double *, double *, int *,
-        double *, int *, double *, double *, int *);
+		    double *, int *, double *, double *, int *);
 int BLASFUNC(xsbmv)(char *, int *, int *, double *, double *, int *,
-        double *, int *, double *, double *, int *);
+		    double *, int *, double *, double *, int *);
 
 int BLASFUNC(chbmv)(char *, int *, int *, float  *, float  *, int *,
-        float  *, int *, float  *, float  *, int *);
+		    float  *, int *, float  *, float  *, int *);
 int BLASFUNC(zhbmv)(char *, int *, int *, double *, double *, int *,
-        double *, int *, double *, double *, int *);
+		    double *, int *, double *, double *, int *);
 int BLASFUNC(xhbmv)(char *, int *, int *, double *, double *, int *,
-        double *, int *, double *, double *, int *);
+		    double *, int *, double *, double *, int *);
 
 /* Level 3 routines */
 
 int BLASFUNC(sgemm)(char *, char *, int *, int *, int *, float *,
-     float  *, int *, float  *, int *, float  *, float  *, int *);
+	   float  *, int *, float  *, int *, float  *, float  *, int *);
 int BLASFUNC(dgemm)(char *, char *, int *, int *, int *, double *,
-     double *, int *, double *, int *, double *, double *, int *);
+	   double *, int *, double *, int *, double *, double *, int *);
 int BLASFUNC(qgemm)(char *, char *, int *, int *, int *, double *,
-     double *, int *, double *, int *, double *, double *, int *);
+	   double *, int *, double *, int *, double *, double *, int *);
 int BLASFUNC(cgemm)(char *, char *, int *, int *, int *, float *,
-     float  *, int *, float  *, int *, float  *, float  *, int *);
+	   float  *, int *, float  *, int *, float  *, float  *, int *);
 int BLASFUNC(zgemm)(char *, char *, int *, int *, int *, double *,
-     double *, int *, double *, int *, double *, double *, int *);
+	   double *, int *, double *, int *, double *, double *, int *);
 int BLASFUNC(xgemm)(char *, char *, int *, int *, int *, double *,
-     double *, int *, double *, int *, double *, double *, int *);
+	   double *, int *, double *, int *, double *, double *, int *);
 
 int BLASFUNC(cgemm3m)(char *, char *, int *, int *, int *, float *,
-     float  *, int *, float  *, int *, float  *, float  *, int *);
+	   float  *, int *, float  *, int *, float  *, float  *, int *);
 int BLASFUNC(zgemm3m)(char *, char *, int *, int *, int *, double *,
-     double *, int *, double *, int *, double *, double *, int *);
+	   double *, int *, double *, int *, double *, double *, int *);
 int BLASFUNC(xgemm3m)(char *, char *, int *, int *, int *, double *,
-     double *, int *, double *, int *, double *, double *, int *);
+	   double *, int *, double *, int *, double *, double *, int *);
 
 int BLASFUNC(sge2mm)(char *, char *, char *, int *, int *,
-         float *, float  *, int *, float  *, int *,
-         float *, float  *, int *);
+		     float *, float  *, int *, float  *, int *,
+		     float *, float  *, int *);
 int BLASFUNC(dge2mm)(char *, char *, char *, int *, int *,
-         double *, double  *, int *, double  *, int *,
-         double *, double  *, int *);
+		     double *, double  *, int *, double  *, int *,
+		     double *, double  *, int *);
 int BLASFUNC(cge2mm)(char *, char *, char *, int *, int *,
-         float *, float  *, int *, float  *, int *,
-         float *, float  *, int *);
+		     float *, float  *, int *, float  *, int *,
+		     float *, float  *, int *);
 int BLASFUNC(zge2mm)(char *, char *, char *, int *, int *,
-         double *, double  *, int *, double  *, int *,
-         double *, double  *, int *);
+		     double *, double  *, int *, double  *, int *,
+		     double *, double  *, int *);
 
 int BLASFUNC(strsm)(char *, char *, char *, char *, int *, int *,
-     float *,  float *, int *, float *, int *);
+	   float *,  float *, int *, float *, int *);
 int BLASFUNC(dtrsm)(char *, char *, char *, char *, int *, int *,
-     double *,  double *, int *, double *, int *);
+	   double *,  double *, int *, double *, int *);
 int BLASFUNC(qtrsm)(char *, char *, char *, char *, int *, int *,
-     double *,  double *, int *, double *, int *);
+	   double *,  double *, int *, double *, int *);
 int BLASFUNC(ctrsm)(char *, char *, char *, char *, int *, int *,
-     float *,  float *, int *, float *, int *);
+	   float *,  float *, int *, float *, int *);
 int BLASFUNC(ztrsm)(char *, char *, char *, char *, int *, int *,
-     double *,  double *, int *, double *, int *);
+	   double *,  double *, int *, double *, int *);
 int BLASFUNC(xtrsm)(char *, char *, char *, char *, int *, int *,
-     double *,  double *, int *, double *, int *);
+	   double *,  double *, int *, double *, int *);
 
 int BLASFUNC(strmm)(char *, char *, char *, char *, int *, int *,
-     float *,  float *, int *, float *, int *);
+	   float *,  float *, int *, float *, int *);
 int BLASFUNC(dtrmm)(char *, char *, char *, char *, int *, int *,
-     double *,  double *, int *, double *, int *);
+	   double *,  double *, int *, double *, int *);
 int BLASFUNC(qtrmm)(char *, char *, char *, char *, int *, int *,
-     double *,  double *, int *, double *, int *);
+	   double *,  double *, int *, double *, int *);
 int BLASFUNC(ctrmm)(char *, char *, char *, char *, int *, int *,
-     float *,  float *, int *, float *, int *);
+	   float *,  float *, int *, float *, int *);
 int BLASFUNC(ztrmm)(char *, char *, char *, char *, int *, int *,
-     double *,  double *, int *, double *, int *);
+	   double *,  double *, int *, double *, int *);
 int BLASFUNC(xtrmm)(char *, char *, char *, char *, int *, int *,
-     double *,  double *, int *, double *, int *);
+	   double *,  double *, int *, double *, int *);
 
 int BLASFUNC(ssymm)(char *, char *, int *, int *, float  *, float  *, int *,
-     float  *, int *, float  *, float  *, int *);
+	   float  *, int *, float  *, float  *, int *);
 int BLASFUNC(dsymm)(char *, char *, int *, int *, double *, double *, int *,
-     double *, int *, double *, double *, int *);
+	   double *, int *, double *, double *, int *);
 int BLASFUNC(qsymm)(char *, char *, int *, int *, double *, double *, int *,
-     double *, int *, double *, double *, int *);
+	   double *, int *, double *, double *, int *);
 int BLASFUNC(csymm)(char *, char *, int *, int *, float  *, float  *, int *,
-     float  *, int *, float  *, float  *, int *);
+	   float  *, int *, float  *, float  *, int *);
 int BLASFUNC(zsymm)(char *, char *, int *, int *, double *, double *, int *,
-     double *, int *, double *, double *, int *);
+	   double *, int *, double *, double *, int *);
 int BLASFUNC(xsymm)(char *, char *, int *, int *, double *, double *, int *,
-     double *, int *, double *, double *, int *);
+	   double *, int *, double *, double *, int *);
 
 int BLASFUNC(csymm3m)(char *, char *, int *, int *, float  *, float  *, int *,
-     float  *, int *, float  *, float  *, int *);
+	   float  *, int *, float  *, float  *, int *);
 int BLASFUNC(zsymm3m)(char *, char *, int *, int *, double *, double *, int *,
-     double *, int *, double *, double *, int *);
+	   double *, int *, double *, double *, int *);
 int BLASFUNC(xsymm3m)(char *, char *, int *, int *, double *, double *, int *,
-     double *, int *, double *, double *, int *);
+	   double *, int *, double *, double *, int *);
 
 int BLASFUNC(ssyrk)(char *, char *, int *, int *, float  *, float  *, int *,
-     float  *, float  *, int *);
+	   float  *, float  *, int *);
 int BLASFUNC(dsyrk)(char *, char *, int *, int *, double *, double *, int *,
-     double *, double *, int *);
+	   double *, double *, int *);
 int BLASFUNC(qsyrk)(char *, char *, int *, int *, double *, double *, int *,
-     double *, double *, int *);
+	   double *, double *, int *);
 int BLASFUNC(csyrk)(char *, char *, int *, int *, float  *, float  *, int *,
-     float  *, float  *, int *);
+	   float  *, float  *, int *);
 int BLASFUNC(zsyrk)(char *, char *, int *, int *, double *, double *, int *,
-     double *, double *, int *);
+	   double *, double *, int *);
 int BLASFUNC(xsyrk)(char *, char *, int *, int *, double *, double *, int *,
-     double *, double *, int *);
+	   double *, double *, int *);
 
 int BLASFUNC(ssyr2k)(char *, char *, int *, int *, float  *, float  *, int *,
-     float *, int *, float  *, float  *, int *);
+	   float *, int *, float  *, float  *, int *);
 int BLASFUNC(dsyr2k)(char *, char *, int *, int *, double *, double *, int *,
-     double*, int *, double *, double *, int *);
+	   double*, int *, double *, double *, int *);
 int BLASFUNC(qsyr2k)(char *, char *, int *, int *, double *, double *, int *,
-     double*, int *, double *, double *, int *);
+	   double*, int *, double *, double *, int *);
 int BLASFUNC(csyr2k)(char *, char *, int *, int *, float  *, float  *, int *,
-     float *, int *, float  *, float  *, int *);
+	   float *, int *, float  *, float  *, int *);
 int BLASFUNC(zsyr2k)(char *, char *, int *, int *, double *, double *, int *,
-     double*, int *, double *, double *, int *);
+	   double*, int *, double *, double *, int *);
 int BLASFUNC(xsyr2k)(char *, char *, int *, int *, double *, double *, int *,
-     double*, int *, double *, double *, int *);
+	   double*, int *, double *, double *, int *);
 
 int BLASFUNC(chemm)(char *, char *, int *, int *, float  *, float  *, int *,
-     float  *, int *, float  *, float  *, int *);
+	   float  *, int *, float  *, float  *, int *);
 int BLASFUNC(zhemm)(char *, char *, int *, int *, double *, double *, int *,
-     double *, int *, double *, double *, int *);
+	   double *, int *, double *, double *, int *);
 int BLASFUNC(xhemm)(char *, char *, int *, int *, double *, double *, int *,
-     double *, int *, double *, double *, int *);
+	   double *, int *, double *, double *, int *);
 
 int BLASFUNC(chemm3m)(char *, char *, int *, int *, float  *, float  *, int *,
-     float  *, int *, float  *, float  *, int *);
+	   float  *, int *, float  *, float  *, int *);
 int BLASFUNC(zhemm3m)(char *, char *, int *, int *, double *, double *, int *,
-     double *, int *, double *, double *, int *);
+	   double *, int *, double *, double *, int *);
 int BLASFUNC(xhemm3m)(char *, char *, int *, int *, double *, double *, int *,
-     double *, int *, double *, double *, int *);
+	   double *, int *, double *, double *, int *);
 
 int BLASFUNC(cherk)(char *, char *, int *, int *, float  *, float  *, int *,
-     float  *, float  *, int *);
+	   float  *, float  *, int *);
 int BLASFUNC(zherk)(char *, char *, int *, int *, double *, double *, int *,
-     double *, double *, int *);
+	   double *, double *, int *);
 int BLASFUNC(xherk)(char *, char *, int *, int *, double *, double *, int *,
-     double *, double *, int *);
+	   double *, double *, int *);
 
 int BLASFUNC(cher2k)(char *, char *, int *, int *, float  *, float  *, int *,
-     float *, int *, float  *, float  *, int *);
+	   float *, int *, float  *, float  *, int *);
 int BLASFUNC(zher2k)(char *, char *, int *, int *, double *, double *, int *,
-     double*, int *, double *, double *, int *);
+	   double*, int *, double *, double *, int *);
 int BLASFUNC(xher2k)(char *, char *, int *, int *, double *, double *, int *,
-     double*, int *, double *, double *, int *);
+	   double*, int *, double *, double *, int *);
 int BLASFUNC(cher2m)(char *, char *, char *, int *, int *, float  *, float  *, int *,
-     float *, int *, float  *, float  *, int *);
+	   float *, int *, float  *, float  *, int *);
 int BLASFUNC(zher2m)(char *, char *, char *, int *, int *, double *, double *, int *,
-     double*, int *, double *, double *, int *);
+	   double*, int *, double *, double *, int *);
 int BLASFUNC(xher2m)(char *, char *, char *, int *, int *, double *, double *, int *,
-     double*, int *, double *, double *, int *);
+	   double*, int *, double *, double *, int *);
 
 int BLASFUNC(sgemt)(char *, int *, int *, float  *, float  *, int *,
-        float  *, int *);
+		    float  *, int *);
 int BLASFUNC(dgemt)(char *, int *, int *, double *, double *, int *,
-        double *, int *);
+		    double *, int *);
 int BLASFUNC(cgemt)(char *, int *, int *, float  *, float  *, int *,
-        float  *, int *);
+		    float  *, int *);
 int BLASFUNC(zgemt)(char *, int *, int *, double *, double *, int *,
-        double *, int *);
+		    double *, int *);
 
 int BLASFUNC(sgema)(char *, char *, int *, int *, float  *,
-        float  *, int *, float *, float  *, int *, float *, int *);
+		    float  *, int *, float *, float  *, int *, float *, int *);
 int BLASFUNC(dgema)(char *, char *, int *, int *, double *,
-        double *, int *, double*, double *, int *, double*, int *);
+		    double *, int *, double*, double *, int *, double*, int *);
 int BLASFUNC(cgema)(char *, char *, int *, int *, float  *,
-        float  *, int *, float *, float  *, int *, float *, int *);
+		    float  *, int *, float *, float  *, int *, float *, int *);
 int BLASFUNC(zgema)(char *, char *, int *, int *, double *,
-        double *, int *, double*, double *, int *, double*, int *);
+		    double *, int *, double*, double *, int *, double*, int *);
 
 int BLASFUNC(sgems)(char *, char *, int *, int *, float  *,
-        float  *, int *, float *, float  *, int *, float *, int *);
+		    float  *, int *, float *, float  *, int *, float *, int *);
 int BLASFUNC(dgems)(char *, char *, int *, int *, double *,
-        double *, int *, double*, double *, int *, double*, int *);
+		    double *, int *, double*, double *, int *, double*, int *);
 int BLASFUNC(cgems)(char *, char *, int *, int *, float  *,
-        float  *, int *, float *, float  *, int *, float *, int *);
+		    float  *, int *, float *, float  *, int *, float *, int *);
 int BLASFUNC(zgems)(char *, char *, int *, int *, double *,
-        double *, int *, double*, double *, int *, double*, int *);
+		    double *, int *, double*, double *, int *, double*, int *);
 
 int BLASFUNC(sgetf2)(int *, int *, float  *, int *, int *, int *);
 int BLASFUNC(dgetf2)(int *, int *, double *, int *, int *, int *);
diff --git a/gtsam/3rdparty/Eigen/bench/eig33.cpp b/gtsam/3rdparty/Eigen/bench/eig33.cpp
index 9f9e1f8a9..1608b999d 100644
--- a/gtsam/3rdparty/Eigen/bench/eig33.cpp
+++ b/gtsam/3rdparty/Eigen/bench/eig33.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 // The computeRoots function included in this is based on materials
 // covered by the following copyright and license:
diff --git a/gtsam/3rdparty/Eigen/bench/spbench/spbenchsolver.h b/gtsam/3rdparty/Eigen/bench/spbench/spbenchsolver.h
index 6d765a997..609c7c39d 100644
--- a/gtsam/3rdparty/Eigen/bench/spbench/spbenchsolver.h
+++ b/gtsam/3rdparty/Eigen/bench/spbench/spbenchsolver.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 
 #include <iostream>
diff --git a/gtsam/3rdparty/Eigen/blas/BandTriangularSolver.h b/gtsam/3rdparty/Eigen/blas/BandTriangularSolver.h
index 420221aea..ce2d74daa 100644
--- a/gtsam/3rdparty/Eigen/blas/BandTriangularSolver.h
+++ b/gtsam/3rdparty/Eigen/blas/BandTriangularSolver.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2011 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_BAND_TRIANGULARSOLVER_H
 #define EIGEN_BAND_TRIANGULARSOLVER_H
diff --git a/gtsam/3rdparty/Eigen/blas/common.h b/gtsam/3rdparty/Eigen/blas/common.h
index ada833a90..b598c4e45 100644
--- a/gtsam/3rdparty/Eigen/blas/common.h
+++ b/gtsam/3rdparty/Eigen/blas/common.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_BLAS_COMMON_H
 #define EIGEN_BLAS_COMMON_H
diff --git a/gtsam/3rdparty/Eigen/blas/complex_double.cpp b/gtsam/3rdparty/Eigen/blas/complex_double.cpp
index dad87a60d..648c6d4c6 100644
--- a/gtsam/3rdparty/Eigen/blas/complex_double.cpp
+++ b/gtsam/3rdparty/Eigen/blas/complex_double.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #define SCALAR        std::complex<double>
 #define SCALAR_SUFFIX z
diff --git a/gtsam/3rdparty/Eigen/blas/complex_single.cpp b/gtsam/3rdparty/Eigen/blas/complex_single.cpp
index 11bbf629f..778651943 100644
--- a/gtsam/3rdparty/Eigen/blas/complex_single.cpp
+++ b/gtsam/3rdparty/Eigen/blas/complex_single.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #define SCALAR        std::complex<float>
 #define SCALAR_SUFFIX c
diff --git a/gtsam/3rdparty/Eigen/blas/double.cpp b/gtsam/3rdparty/Eigen/blas/double.cpp
index c6927ee22..cad2f63ec 100644
--- a/gtsam/3rdparty/Eigen/blas/double.cpp
+++ b/gtsam/3rdparty/Eigen/blas/double.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #define SCALAR        double
 #define SCALAR_SUFFIX d
diff --git a/gtsam/3rdparty/Eigen/blas/level1_cplx_impl.h b/gtsam/3rdparty/Eigen/blas/level1_cplx_impl.h
index 299a4ac00..8d6b92829 100644
--- a/gtsam/3rdparty/Eigen/blas/level1_cplx_impl.h
+++ b/gtsam/3rdparty/Eigen/blas/level1_cplx_impl.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "common.h"
 
diff --git a/gtsam/3rdparty/Eigen/blas/level1_impl.h b/gtsam/3rdparty/Eigen/blas/level1_impl.h
index fb68abce0..95ea220af 100644
--- a/gtsam/3rdparty/Eigen/blas/level1_impl.h
+++ b/gtsam/3rdparty/Eigen/blas/level1_impl.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "common.h"
 
diff --git a/gtsam/3rdparty/Eigen/blas/level1_real_impl.h b/gtsam/3rdparty/Eigen/blas/level1_real_impl.h
index e18c40f0a..8acecdfc6 100644
--- a/gtsam/3rdparty/Eigen/blas/level1_real_impl.h
+++ b/gtsam/3rdparty/Eigen/blas/level1_real_impl.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "common.h"
 
diff --git a/gtsam/3rdparty/Eigen/blas/level2_cplx_impl.h b/gtsam/3rdparty/Eigen/blas/level2_cplx_impl.h
index cbbf4f3e9..7878f2a16 100644
--- a/gtsam/3rdparty/Eigen/blas/level2_cplx_impl.h
+++ b/gtsam/3rdparty/Eigen/blas/level2_cplx_impl.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "common.h"
 
diff --git a/gtsam/3rdparty/Eigen/blas/level2_impl.h b/gtsam/3rdparty/Eigen/blas/level2_impl.h
index 46a3e7005..7099cf96d 100644
--- a/gtsam/3rdparty/Eigen/blas/level2_impl.h
+++ b/gtsam/3rdparty/Eigen/blas/level2_impl.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "common.h"
 
diff --git a/gtsam/3rdparty/Eigen/blas/level2_real_impl.h b/gtsam/3rdparty/Eigen/blas/level2_real_impl.h
index 5cad7694b..cd8332973 100644
--- a/gtsam/3rdparty/Eigen/blas/level2_real_impl.h
+++ b/gtsam/3rdparty/Eigen/blas/level2_real_impl.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "common.h"
 
diff --git a/gtsam/3rdparty/Eigen/blas/level3_impl.h b/gtsam/3rdparty/Eigen/blas/level3_impl.h
index 4f4f39080..2371f25c3 100644
--- a/gtsam/3rdparty/Eigen/blas/level3_impl.h
+++ b/gtsam/3rdparty/Eigen/blas/level3_impl.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "common.h"
 
@@ -167,7 +152,7 @@ int EIGEN_BLAS_FUNC(trsm)(char *side, char *uplo, char *opa, char *diag, int *m,
 int EIGEN_BLAS_FUNC(trmm)(char *side, char *uplo, char *opa, char *diag, int *m, int *n, RealScalar *palpha,  RealScalar *pa, int *lda, RealScalar *pb, int *ldb)
 {
 //   std::cerr << "in trmm " << *side << " " << *uplo << " " << *opa << " " << *diag << " " << *m << " " << *n << " " << *lda << " " << *ldb << " " << *palpha << "\n";
-  typedef void (*functype)(DenseIndex, DenseIndex, DenseIndex, const Scalar *, DenseIndex, const Scalar *, DenseIndex, Scalar *, DenseIndex, Scalar);
+  typedef void (*functype)(DenseIndex, DenseIndex, DenseIndex, const Scalar *, DenseIndex, const Scalar *, DenseIndex, Scalar *, DenseIndex, Scalar, internal::level3_blocking<Scalar,Scalar>&);
   static functype func[32];
   static bool init = false;
   if(!init)
@@ -236,9 +221,15 @@ int EIGEN_BLAS_FUNC(trmm)(char *side, char *uplo, char *opa, char *diag, int *m,
   matrix(b,*m,*n,*ldb).setZero();
 
   if(SIDE(*side)==LEFT)
-    func[code](*m, *n, *m, a, *lda, tmp.data(), tmp.outerStride(), b, *ldb, alpha);
+  {
+    internal::gemm_blocking_space<ColMajor,Scalar,Scalar,Dynamic,Dynamic,Dynamic,4> blocking(*m,*n,*m);
+    func[code](*m, *n, *m, a, *lda, tmp.data(), tmp.outerStride(), b, *ldb, alpha, blocking);
+  }
   else
-    func[code](*m, *n, *n, tmp.data(), tmp.outerStride(), a, *lda, b, *ldb, alpha);
+  {
+    internal::gemm_blocking_space<ColMajor,Scalar,Scalar,Dynamic,Dynamic,Dynamic,4> blocking(*m,*n,*n);
+    func[code](*m, *n, *n, tmp.data(), tmp.outerStride(), a, *lda, b, *ldb, alpha, blocking);
+  }
   return 1;
 }
 
diff --git a/gtsam/3rdparty/Eigen/blas/single.cpp b/gtsam/3rdparty/Eigen/blas/single.cpp
index 5816d329b..1b7775aed 100644
--- a/gtsam/3rdparty/Eigen/blas/single.cpp
+++ b/gtsam/3rdparty/Eigen/blas/single.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #define SCALAR        float
 #define SCALAR_SUFFIX s
diff --git a/gtsam/3rdparty/Eigen/cmake/FindUmfpack.cmake b/gtsam/3rdparty/Eigen/cmake/FindUmfpack.cmake
index d42c3c4a2..3df3a0a94 100644
--- a/gtsam/3rdparty/Eigen/cmake/FindUmfpack.cmake
+++ b/gtsam/3rdparty/Eigen/cmake/FindUmfpack.cmake
@@ -19,8 +19,9 @@ find_path(UMFPACK_INCLUDES
 find_library(UMFPACK_LIBRARIES umfpack PATHS $ENV{UMFPACKDIR} ${LIB_INSTALL_DIR})
 
 if(UMFPACK_LIBRARIES)
-
-  get_filename_component(UMFPACK_LIBDIR ${UMFPACK_LIBRARIES} PATH)
+  if (NOT UMFPACK_LIBDIR)
+    get_filename_component(UMFPACK_LIBDIR ${UMFPACK_LIBRARIES} PATH)
+  endif(NOT UMFPACK_LIBDIR)
 
   find_library(AMD_LIBRARY amd PATHS ${UMFPACK_LIBDIR} $ENV{UMFPACKDIR} ${LIB_INSTALL_DIR})
   if (AMD_LIBRARY)
diff --git a/gtsam/3rdparty/Eigen/debug/gdb/printers.py b/gtsam/3rdparty/Eigen/debug/gdb/printers.py
index 8dab8fffb..86996a4f9 100644
--- a/gtsam/3rdparty/Eigen/debug/gdb/printers.py
+++ b/gtsam/3rdparty/Eigen/debug/gdb/printers.py
@@ -4,24 +4,9 @@
 #
 # Copyright (C) 2009 Benjamin Schindler <bschindler@inf.ethz.ch>
 #
-# 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/>.
+# This Source Code Form is subject to the terms of the Mozilla Public
+# License, v. 2.0. If a copy of the MPL was not distributed with this
+# file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 # Pretty printers for Eigen::Matrix
 # This is still pretty basic as the python extension to gdb is still pretty basic. 
@@ -66,12 +51,12 @@ class EigenMatrixPrinter:
 		template_params = m.split(',')
 		template_params = map(lambda x:x.replace(" ", ""), template_params)
 		
-		if template_params[1] == '-0x00000000000000001' or template_params[1] == '-0x000000001':
+		if template_params[1] == '-0x00000000000000001' or template_params[1] == '-0x000000001' or template_params[1] == '-1':
 			self.rows = val['m_storage']['m_rows']
 		else:
 			self.rows = int(template_params[1])
 		
-		if template_params[2] == '-0x00000000000000001' or template_params[2] == '-0x000000001':
+		if template_params[2] == '-0x00000000000000001' or template_params[2] == '-0x000000001' or template_params[2] == '-1':
 			self.cols = val['m_storage']['m_cols']
 		else:
 			self.cols = int(template_params[2])
diff --git a/gtsam/3rdparty/Eigen/demos/mandelbrot/mandelbrot.cpp b/gtsam/3rdparty/Eigen/demos/mandelbrot/mandelbrot.cpp
index 91c0b404f..5d575d5b6 100644
--- a/gtsam/3rdparty/Eigen/demos/mandelbrot/mandelbrot.cpp
+++ b/gtsam/3rdparty/Eigen/demos/mandelbrot/mandelbrot.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "mandelbrot.h"
 #include <iostream>
diff --git a/gtsam/3rdparty/Eigen/demos/mandelbrot/mandelbrot.h b/gtsam/3rdparty/Eigen/demos/mandelbrot/mandelbrot.h
index 950be82e2..a687fd016 100644
--- a/gtsam/3rdparty/Eigen/demos/mandelbrot/mandelbrot.h
+++ b/gtsam/3rdparty/Eigen/demos/mandelbrot/mandelbrot.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef MANDELBROT_H
 #define MANDELBROT_H
diff --git a/gtsam/3rdparty/Eigen/demos/mix_eigen_and_c/binary_library.cpp b/gtsam/3rdparty/Eigen/demos/mix_eigen_and_c/binary_library.cpp
index efbf28ff0..15a2d03e9 100644
--- a/gtsam/3rdparty/Eigen/demos/mix_eigen_and_c/binary_library.cpp
+++ b/gtsam/3rdparty/Eigen/demos/mix_eigen_and_c/binary_library.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 // This C++ file compiles to binary code that can be linked to by your C program,
 // thanks to the extern "C" syntax used in the declarations in binary_library.h.
diff --git a/gtsam/3rdparty/Eigen/demos/mix_eigen_and_c/binary_library.h b/gtsam/3rdparty/Eigen/demos/mix_eigen_and_c/binary_library.h
index 3a4dc5b77..0b983ad3a 100644
--- a/gtsam/3rdparty/Eigen/demos/mix_eigen_and_c/binary_library.h
+++ b/gtsam/3rdparty/Eigen/demos/mix_eigen_and_c/binary_library.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 // This is a pure C header, no C++ here.
 // The functions declared here will be implemented in C++ but
diff --git a/gtsam/3rdparty/Eigen/demos/mix_eigen_and_c/example.c b/gtsam/3rdparty/Eigen/demos/mix_eigen_and_c/example.c
index 4391a6d78..508eb5467 100644
--- a/gtsam/3rdparty/Eigen/demos/mix_eigen_and_c/example.c
+++ b/gtsam/3rdparty/Eigen/demos/mix_eigen_and_c/example.c
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "binary_library.h"
 #include "stdio.h"
diff --git a/gtsam/3rdparty/Eigen/demos/opengl/CMakeLists.txt b/gtsam/3rdparty/Eigen/demos/opengl/CMakeLists.txt
index b98a30c01..299aa441d 100644
--- a/gtsam/3rdparty/Eigen/demos/opengl/CMakeLists.txt
+++ b/gtsam/3rdparty/Eigen/demos/opengl/CMakeLists.txt
@@ -1,20 +1,28 @@
-find_package(Qt4 REQUIRED)
-find_package(OpenGL REQUIRED)
+find_package(Qt4)
+find_package(OpenGL)
 
-set(QT_USE_QTOPENGL TRUE)
-include(${QT_USE_FILE})
+if(QT4_FOUND AND OPENGL_FOUND)
 
-set(CMAKE_INCLUDE_CURRENT_DIR ON)
+  set(QT_USE_QTOPENGL TRUE)
+  include(${QT_USE_FILE})
 
-include_directories( ${QT_INCLUDE_DIR} )
+  set(CMAKE_INCLUDE_CURRENT_DIR ON)
 
-set(quaternion_demo_SRCS  gpuhelper.cpp icosphere.cpp camera.cpp trackball.cpp quaternion_demo.cpp)
+  include_directories( ${QT_INCLUDE_DIR} )
 
-qt4_automoc(${quaternion_demo_SRCS})
+  set(quaternion_demo_SRCS  gpuhelper.cpp icosphere.cpp camera.cpp trackball.cpp quaternion_demo.cpp)
 
-add_executable(quaternion_demo ${quaternion_demo_SRCS})
-add_dependencies(demos quaternion_demo)
+  qt4_automoc(${quaternion_demo_SRCS})
 
-target_link_libraries(quaternion_demo
-  ${QT_QTCORE_LIBRARY}    ${QT_QTGUI_LIBRARY}
-  ${QT_QTOPENGL_LIBRARY}  ${OPENGL_LIBRARIES} )
+  add_executable(quaternion_demo ${quaternion_demo_SRCS})
+  add_dependencies(demos quaternion_demo)
+
+  target_link_libraries(quaternion_demo
+    ${QT_QTCORE_LIBRARY}    ${QT_QTGUI_LIBRARY}
+    ${QT_QTOPENGL_LIBRARY}  ${OPENGL_LIBRARIES} )
+
+else()
+
+  message(STATUS "OpenGL demo disabled because Qt4 and/or OpenGL have not been found.")
+
+endif()
\ No newline at end of file
diff --git a/gtsam/3rdparty/Eigen/demos/opengl/camera.cpp b/gtsam/3rdparty/Eigen/demos/opengl/camera.cpp
index 7e3880661..8a2344c85 100644
--- a/gtsam/3rdparty/Eigen/demos/opengl/camera.cpp
+++ b/gtsam/3rdparty/Eigen/demos/opengl/camera.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "camera.h"
 
diff --git a/gtsam/3rdparty/Eigen/demos/opengl/camera.h b/gtsam/3rdparty/Eigen/demos/opengl/camera.h
index c5c3a73e8..15714d2e6 100644
--- a/gtsam/3rdparty/Eigen/demos/opengl/camera.h
+++ b/gtsam/3rdparty/Eigen/demos/opengl/camera.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_CAMERA_H
 #define EIGEN_CAMERA_H
diff --git a/gtsam/3rdparty/Eigen/demos/opengl/gpuhelper.cpp b/gtsam/3rdparty/Eigen/demos/opengl/gpuhelper.cpp
index 5d11c9a95..fd236b11c 100644
--- a/gtsam/3rdparty/Eigen/demos/opengl/gpuhelper.cpp
+++ b/gtsam/3rdparty/Eigen/demos/opengl/gpuhelper.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "gpuhelper.h"
 #include "icosphere.h"
diff --git a/gtsam/3rdparty/Eigen/demos/opengl/gpuhelper.h b/gtsam/3rdparty/Eigen/demos/opengl/gpuhelper.h
index d0fe71bc7..9ff98e9dc 100644
--- a/gtsam/3rdparty/Eigen/demos/opengl/gpuhelper.h
+++ b/gtsam/3rdparty/Eigen/demos/opengl/gpuhelper.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_GPUHELPER_H
 #define EIGEN_GPUHELPER_H
diff --git a/gtsam/3rdparty/Eigen/demos/opengl/icosphere.cpp b/gtsam/3rdparty/Eigen/demos/opengl/icosphere.cpp
index d6092f018..39444cbb6 100644
--- a/gtsam/3rdparty/Eigen/demos/opengl/icosphere.cpp
+++ b/gtsam/3rdparty/Eigen/demos/opengl/icosphere.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "icosphere.h"
 
diff --git a/gtsam/3rdparty/Eigen/demos/opengl/icosphere.h b/gtsam/3rdparty/Eigen/demos/opengl/icosphere.h
index 0d6bdf431..b0210edc5 100644
--- a/gtsam/3rdparty/Eigen/demos/opengl/icosphere.h
+++ b/gtsam/3rdparty/Eigen/demos/opengl/icosphere.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_ICOSPHERE_H
 #define EIGEN_ICOSPHERE_H
diff --git a/gtsam/3rdparty/Eigen/demos/opengl/quaternion_demo.cpp b/gtsam/3rdparty/Eigen/demos/opengl/quaternion_demo.cpp
index 899075669..04165619b 100644
--- a/gtsam/3rdparty/Eigen/demos/opengl/quaternion_demo.cpp
+++ b/gtsam/3rdparty/Eigen/demos/opengl/quaternion_demo.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "quaternion_demo.h"
 #include "icosphere.h"
diff --git a/gtsam/3rdparty/Eigen/demos/opengl/quaternion_demo.h b/gtsam/3rdparty/Eigen/demos/opengl/quaternion_demo.h
index 57fff15d8..dbff46c39 100644
--- a/gtsam/3rdparty/Eigen/demos/opengl/quaternion_demo.h
+++ b/gtsam/3rdparty/Eigen/demos/opengl/quaternion_demo.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_QUATERNION_DEMO_H
 #define EIGEN_QUATERNION_DEMO_H
diff --git a/gtsam/3rdparty/Eigen/demos/opengl/trackball.cpp b/gtsam/3rdparty/Eigen/demos/opengl/trackball.cpp
index f8da7779a..77ac790c8 100644
--- a/gtsam/3rdparty/Eigen/demos/opengl/trackball.cpp
+++ b/gtsam/3rdparty/Eigen/demos/opengl/trackball.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "trackball.h"
 #include "camera.h"
diff --git a/gtsam/3rdparty/Eigen/demos/opengl/trackball.h b/gtsam/3rdparty/Eigen/demos/opengl/trackball.h
index 25aa89f48..1ea842f11 100644
--- a/gtsam/3rdparty/Eigen/demos/opengl/trackball.h
+++ b/gtsam/3rdparty/Eigen/demos/opengl/trackball.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_TRACKBALL_H
 #define EIGEN_TRACKBALL_H
diff --git a/gtsam/3rdparty/Eigen/doc/CMakeLists.txt b/gtsam/3rdparty/Eigen/doc/CMakeLists.txt
index 96bff41bf..33bc1d45d 100644
--- a/gtsam/3rdparty/Eigen/doc/CMakeLists.txt
+++ b/gtsam/3rdparty/Eigen/doc/CMakeLists.txt
@@ -34,6 +34,7 @@ set(examples_targets "")
 set(snippets_targets "")
 
 add_definitions("-DEIGEN_MAKING_DOCS")
+add_custom_target(all_examples)
 
 add_subdirectory(examples)
 add_subdirectory(special_examples)
@@ -71,7 +72,8 @@ add_custom_target(doc ALL
   COMMAND doxygen
   COMMAND doxygen Doxyfile-unsupported # run doxygen twice to get proper eigen <=> unsupported cross references
   COMMAND ${CMAKE_COMMAND} -E rename html eigen-doc
-  COMMAND ${CMAKE_COMMAND} -E tar cvfz eigen-doc/eigen-doc.tgz eigen-doc/*.html eigen-doc/*.map eigen-doc/*.png eigen-doc/*.css eigen-doc/*.js eigen-doc/*.txt eigen-doc/unsupported
+  COMMAND ${CMAKE_COMMAND} -E remove eigen-doc/eigen-doc.tgz
+  COMMAND ${CMAKE_COMMAND} -E tar cvfz eigen-doc/eigen-doc.tgz eigen-doc
   COMMAND ${CMAKE_COMMAND} -E rename eigen-doc html
   WORKING_DIRECTORY ${Eigen_BINARY_DIR}/doc)
 
diff --git a/gtsam/3rdparty/Eigen/doc/Doxyfile.in b/gtsam/3rdparty/Eigen/doc/Doxyfile.in
index e9e89d486..167e65067 100644
--- a/gtsam/3rdparty/Eigen/doc/Doxyfile.in
+++ b/gtsam/3rdparty/Eigen/doc/Doxyfile.in
@@ -302,7 +302,7 @@ TYPEDEF_HIDES_STRUCT   = NO
 # Private class members and static file members will be hidden unless
 # the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES
 
-EXTRACT_ALL            = YES
+EXTRACT_ALL            = NO
 
 # If the EXTRACT_PRIVATE tag is set to YES all private members of a class
 # will be included in the documentation.
@@ -797,9 +797,7 @@ HTML_HEADER             = "${Eigen_BINARY_DIR}/doc/eigendoxy_header.html"
 # each generated HTML page. If it is left blank doxygen will generate a
 # standard footer.
 
-# the footer has not been customized yet, so let's use the default one
-# ${Eigen_BINARY_DIR}/doc/eigendoxy_footer.html
-HTML_FOOTER             =
+HTML_FOOTER             = "${Eigen_BINARY_DIR}/doc/eigendoxy_footer.html"
 
 # The HTML_STYLESHEET tag can be used to specify a user-defined cascading
 # style sheet that is used by each HTML page. It can be used to
diff --git a/gtsam/3rdparty/Eigen/doc/I00_CustomizingEigen.dox b/gtsam/3rdparty/Eigen/doc/I00_CustomizingEigen.dox
index 623ef31e1..aa4514d68 100644
--- a/gtsam/3rdparty/Eigen/doc/I00_CustomizingEigen.dox
+++ b/gtsam/3rdparty/Eigen/doc/I00_CustomizingEigen.dox
@@ -83,7 +83,7 @@ An example of when you actually need to inherit Matrix, is when you have
 several layers of heritage such as  MyVerySpecificVector1,MyVerySpecificVector1 -> MyVector1 -> Matrix and.
 MyVerySpecificVector3,MyVerySpecificVector4 -> MyVector2 -> Matrix.
 
-In order for your object to work within the Eigen framework, you need to
+In order for your object to work within the %Eigen framework, you need to
 define a few members in your inherited class.
 
 Here is a minimalistic example:\n
@@ -93,8 +93,15 @@ class MyVectorType : public  Eigen::VectorXd
 public:
     MyVectorType(void):Eigen::VectorXd() {}
 
-    // You need to define this for your object to work
     typedef Eigen::VectorXd Base;
+
+    // This constructor allows you to construct MyVectorType from Eigen expressions
+    template<typename OtherDerived>
+    MyVectorType(const Eigen::MatrixBase<OtherDerived>& other)
+        : Eigen::Vector3d(other)
+    { }
+
+    // This method allows you to assign Eigen expressions to MyVectorType
     template<typename OtherDerived>
     MyVectorType & operator= (const Eigen::MatrixBase <OtherDerived>& other)
     {
diff --git a/gtsam/3rdparty/Eigen/doc/I14_PreprocessorDirectives.dox b/gtsam/3rdparty/Eigen/doc/I14_PreprocessorDirectives.dox
index 2826a7f50..f29f0720c 100644
--- a/gtsam/3rdparty/Eigen/doc/I14_PreprocessorDirectives.dox
+++ b/gtsam/3rdparty/Eigen/doc/I14_PreprocessorDirectives.dox
@@ -50,6 +50,8 @@ run time. However, these assertions do cost time and can thus be turned off.
  - \b eigen_assert - macro with one argument that is used inside %Eigen for assertions. By default, it is
    basically defined to be \c assert, which aborts the program if the assertion is violated. Redefine this
    macro if you want to do something else, like throwing an exception.
+ - \b EIGEN_MPL2_ONLY - disable non MPL2 compatible features, or in other words disable the features which
+   are still under the LGPL.
 
 
 \section TopicPreprocessorDirectivesPerformance Alignment, vectorization and performance tweaking
diff --git a/gtsam/3rdparty/Eigen/doc/QuickReference.dox b/gtsam/3rdparty/Eigen/doc/QuickReference.dox
index 3310d390a..31b8030f4 100644
--- a/gtsam/3rdparty/Eigen/doc/QuickReference.dox
+++ b/gtsam/3rdparty/Eigen/doc/QuickReference.dox
@@ -490,7 +490,7 @@ Read-write access to sub-vectors:
 <tr><td>\code vec1.head(n)\endcode</td><td>\code vec1.head<n>()\endcode</td><td>the first \c n coeffs </td></tr>
 <tr><td>\code vec1.tail(n)\endcode</td><td>\code vec1.tail<n>()\endcode</td><td>the last \c n coeffs </td></tr>
 <tr><td>\code vec1.segment(pos,n)\endcode</td><td>\code vec1.segment<n>(pos)\endcode</td>
-    <td>the \c n coeffs in \n the range [\c pos : \c pos + \c n [</td></tr>
+    <td>the \c n coeffs in the \n range [\c pos : \c pos + \c n - 1]</td></tr>
 <tr class="alt"><td colspan="3">
 
 Read-write access to sub-matrices:</td></tr>
diff --git a/gtsam/3rdparty/Eigen/doc/eigendoxy_footer.html.in b/gtsam/3rdparty/Eigen/doc/eigendoxy_footer.html.in
index e70829fb0..ebb187b31 100644
--- a/gtsam/3rdparty/Eigen/doc/eigendoxy_footer.html.in
+++ b/gtsam/3rdparty/Eigen/doc/eigendoxy_footer.html.in
@@ -1,5 +1,17 @@
+<hr class="footer"/>
+
+<!-- Piwik --> 
+<script type="text/javascript">
+var pkBaseURL = (("https:" == document.location.protocol) ? "https://stats.sylphide-consulting.com/piwik/" : "http://stats.sylphide-consulting.com/piwik/");
+document.write(unescape("%3Cscript src='" + pkBaseURL + "piwik.js' type='text/javascript'%3E%3C/script%3E"));
+</script><script type="text/javascript">
+try {
+var piwikTracker = Piwik.getTracker(pkBaseURL + "piwik.php", 20);
+piwikTracker.trackPageView();
+piwikTracker.enableLinkTracking();
+} catch( err ) {}
+</script><noscript><p><img src="http://stats.sylphide-consulting.com/piwik/piwik.php?idsite=20" style="border:0" alt="" /></p></noscript>
+<!-- End Piwik Tracking Code -->
 
-<hr class="footer"/><address class="footer"><small>
-<a href="http://www.doxygen.org/index.html"><img class="footer" src="$relpath$doxygen.png" alt="doxygen"/></a></small></address>
 </body>
-</html>
\ No newline at end of file
+</html>
diff --git a/gtsam/3rdparty/Eigen/doc/examples/CMakeLists.txt b/gtsam/3rdparty/Eigen/doc/examples/CMakeLists.txt
index 13ec0c123..71b272a15 100644
--- a/gtsam/3rdparty/Eigen/doc/examples/CMakeLists.txt
+++ b/gtsam/3rdparty/Eigen/doc/examples/CMakeLists.txt
@@ -1,7 +1,5 @@
 file(GLOB examples_SRCS "*.cpp")
 
-add_custom_target(all_examples)
-
 foreach(example_src ${examples_SRCS})
   get_filename_component(example ${example_src} NAME_WE)
   add_executable(${example} ${example_src})
diff --git a/gtsam/3rdparty/Eigen/doc/examples/QuickStart_example2_dynamic.cpp b/gtsam/3rdparty/Eigen/doc/examples/QuickStart_example2_dynamic.cpp
index 672ac82e9..ff6746e21 100644
--- a/gtsam/3rdparty/Eigen/doc/examples/QuickStart_example2_dynamic.cpp
+++ b/gtsam/3rdparty/Eigen/doc/examples/QuickStart_example2_dynamic.cpp
@@ -6,10 +6,10 @@ using namespace std;
 
 int main()
 {
-  MatrixXf m = MatrixXf::Random(3,3);
-  m = (m + MatrixXf::Constant(3,3,1.2)) * 50;
+  MatrixXd m = MatrixXd::Random(3,3);
+  m = (m + MatrixXd::Constant(3,3,1.2)) * 50;
   cout << "m =" << endl << m << endl;
-  VectorXf v(3);
+  VectorXd v(3);
   v << 1, 2, 3;
   cout << "m * v =" << endl << m * v << endl;
 }
diff --git a/gtsam/3rdparty/Eigen/doc/examples/QuickStart_example2_fixed.cpp b/gtsam/3rdparty/Eigen/doc/examples/QuickStart_example2_fixed.cpp
index edf3268cd..d91175273 100644
--- a/gtsam/3rdparty/Eigen/doc/examples/QuickStart_example2_fixed.cpp
+++ b/gtsam/3rdparty/Eigen/doc/examples/QuickStart_example2_fixed.cpp
@@ -6,10 +6,10 @@ using namespace std;
 
 int main()
 {
-  Matrix3f m = Matrix3f::Random();
-  m = (m + Matrix3f::Constant(1.2)) * 50;
+  Matrix3d m = Matrix3d::Random();
+  m = (m + Matrix3d::Constant(1.2)) * 50;
   cout << "m =" << endl << m << endl;
-  Vector3f v(1,2,3);
+  Vector3d v(1,2,3);
   
   cout << "m * v =" << endl << m * v << endl;
 }
diff --git a/gtsam/3rdparty/Eigen/doc/snippets/TopicStorageOrders_example.cpp b/gtsam/3rdparty/Eigen/doc/snippets/TopicStorageOrders_example.cpp
index e88f1eb69..0623ef0c2 100644
--- a/gtsam/3rdparty/Eigen/doc/snippets/TopicStorageOrders_example.cpp
+++ b/gtsam/3rdparty/Eigen/doc/snippets/TopicStorageOrders_example.cpp
@@ -1,7 +1,7 @@
 Matrix<int, 3, 4, ColMajor> Acolmajor;
 Acolmajor << 8, 2, 2, 9,
              9, 1, 4, 4,
-       3, 5, 4, 5;
+	     3, 5, 4, 5;
 cout << "The matrix A:" << endl;
 cout << Acolmajor << endl << endl; 
 
diff --git a/gtsam/3rdparty/Eigen/doc/snippets/Tutorial_commainit_01b.cpp b/gtsam/3rdparty/Eigen/doc/snippets/Tutorial_commainit_01b.cpp
index aa90c2d1d..2adb2e213 100644
--- a/gtsam/3rdparty/Eigen/doc/snippets/Tutorial_commainit_01b.cpp
+++ b/gtsam/3rdparty/Eigen/doc/snippets/Tutorial_commainit_01b.cpp
@@ -1,5 +1,5 @@
 Matrix3f m;
 m.row(0) << 1, 2, 3;
 m.block(1,0,2,2) << 4, 5, 7, 8;
-m.col(2).tail(2) << 6, 9;        
+m.col(2).tail(2) << 6, 9;		    
 std::cout << m;
diff --git a/gtsam/3rdparty/Eigen/doc/special_examples/CMakeLists.txt b/gtsam/3rdparty/Eigen/doc/special_examples/CMakeLists.txt
index eeeae1d2a..138a2f6ef 100644
--- a/gtsam/3rdparty/Eigen/doc/special_examples/CMakeLists.txt
+++ b/gtsam/3rdparty/Eigen/doc/special_examples/CMakeLists.txt
@@ -17,4 +17,5 @@ if(QT4_FOUND)
       COMMAND Tutorial_sparse_example
       ARGS ${CMAKE_CURRENT_BINARY_DIR}/../html/Tutorial_sparse_example.jpeg
   )
+  add_dependencies(all_examples Tutorial_sparse_example)
 endif(QT4_FOUND)
diff --git a/gtsam/3rdparty/Eigen/lapack/cholesky.cpp b/gtsam/3rdparty/Eigen/lapack/cholesky.cpp
index c51a8a29b..604fa437a 100644
--- a/gtsam/3rdparty/Eigen/lapack/cholesky.cpp
+++ b/gtsam/3rdparty/Eigen/lapack/cholesky.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "lapack_common.h"
 #include <Eigen/Cholesky>
diff --git a/gtsam/3rdparty/Eigen/lapack/complex_double.cpp b/gtsam/3rdparty/Eigen/lapack/complex_double.cpp
index a0b4893b5..424d2b8ca 100644
--- a/gtsam/3rdparty/Eigen/lapack/complex_double.cpp
+++ b/gtsam/3rdparty/Eigen/lapack/complex_double.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #define SCALAR        std::complex<double>
 #define SCALAR_SUFFIX z
diff --git a/gtsam/3rdparty/Eigen/lapack/complex_single.cpp b/gtsam/3rdparty/Eigen/lapack/complex_single.cpp
index 7bc4566a0..c0b2d29ae 100644
--- a/gtsam/3rdparty/Eigen/lapack/complex_single.cpp
+++ b/gtsam/3rdparty/Eigen/lapack/complex_single.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #define SCALAR        std::complex<float>
 #define SCALAR_SUFFIX c
diff --git a/gtsam/3rdparty/Eigen/lapack/double.cpp b/gtsam/3rdparty/Eigen/lapack/double.cpp
index 44723573c..d86549e19 100644
--- a/gtsam/3rdparty/Eigen/lapack/double.cpp
+++ b/gtsam/3rdparty/Eigen/lapack/double.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #define SCALAR        double
 #define SCALAR_SUFFIX d
diff --git a/gtsam/3rdparty/Eigen/lapack/eigenvalues.cpp b/gtsam/3rdparty/Eigen/lapack/eigenvalues.cpp
index a9e11d374..a1526ebcd 100644
--- a/gtsam/3rdparty/Eigen/lapack/eigenvalues.cpp
+++ b/gtsam/3rdparty/Eigen/lapack/eigenvalues.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2011 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "common.h"
 #include <Eigen/Eigenvalues>
diff --git a/gtsam/3rdparty/Eigen/lapack/lapack_common.h b/gtsam/3rdparty/Eigen/lapack/lapack_common.h
index ca2e9f316..e558c1409 100644
--- a/gtsam/3rdparty/Eigen/lapack/lapack_common.h
+++ b/gtsam/3rdparty/Eigen/lapack/lapack_common.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_LAPACK_COMMON_H
 #define EIGEN_LAPACK_COMMON_H
diff --git a/gtsam/3rdparty/Eigen/lapack/lu.cpp b/gtsam/3rdparty/Eigen/lapack/lu.cpp
index 4bd3d775c..311511674 100644
--- a/gtsam/3rdparty/Eigen/lapack/lu.cpp
+++ b/gtsam/3rdparty/Eigen/lapack/lu.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "common.h"
 #include <Eigen/LU>
diff --git a/gtsam/3rdparty/Eigen/lapack/single.cpp b/gtsam/3rdparty/Eigen/lapack/single.cpp
index 49c72f5ec..a64ed44e1 100644
--- a/gtsam/3rdparty/Eigen/lapack/single.cpp
+++ b/gtsam/3rdparty/Eigen/lapack/single.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #define SCALAR        float
 #define SCALAR_SUFFIX s
diff --git a/gtsam/3rdparty/Eigen/scripts/eigen_gen_docs b/gtsam/3rdparty/Eigen/scripts/eigen_gen_docs
index 921d600ed..9c3ba28a2 100644
--- a/gtsam/3rdparty/Eigen/scripts/eigen_gen_docs
+++ b/gtsam/3rdparty/Eigen/scripts/eigen_gen_docs
@@ -13,7 +13,7 @@ mkdir build -p
 
 #step 2 : upload
 # (the '/' at the end of path is very important, see rsync documentation)
-rsync -az --no-p --delete build/doc/html/ $USER@ssh.tuxfamily.org:eigen/eigen.tuxfamily.org-web/htdocs/dox-devel/ || { echo "upload failed"; exit 1; }
+rsync -az --no-p --delete build/doc/html/ $USER@ssh.tuxfamily.org:eigen/eigen.tuxfamily.org-web/htdocs/dox/ || { echo "upload failed"; exit 1; }
 
 #step 3 : fix the perm
 ssh $USER@ssh.tuxfamily.org 'chmod -R g+w /home/eigen/eigen.tuxfamily.org-web/htdocs/dox-devel' || { echo "perm failed"; exit 1; }
diff --git a/gtsam/3rdparty/Eigen/scripts/relicense.py b/gtsam/3rdparty/Eigen/scripts/relicense.py
new file mode 100644
index 000000000..8a5265f1f
--- /dev/null
+++ b/gtsam/3rdparty/Eigen/scripts/relicense.py
@@ -0,0 +1,69 @@
+# This file is part of Eigen, a lightweight C++ template library
+# for linear algebra.
+#
+# Copyright (C) 2012 Keir Mierle <mierle@gmail.com>
+#
+# This Source Code Form is subject to the terms of the Mozilla
+# Public License v. 2.0. If a copy of the MPL was not distributed
+# with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+#
+# Author: mierle@gmail.com (Keir Mierle)
+#
+# Make the long-awaited conversion to MPL.
+
+lgpl3_header = '''
+// 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/>.
+'''
+
+mpl2_header = """
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+"""
+
+import os
+import sys
+
+exclusions = set(['relicense.py'])
+
+def update(text):
+  if text.find(lgpl3_header) == -1:
+    return text, False
+  return text.replace(lgpl3_header, mpl2_header), True
+
+rootdir = sys.argv[1]
+for root, sub_folders, files in os.walk(rootdir):
+    for basename in files:
+        if basename in exclusions:
+          print 'SKIPPED', filename
+          continue
+        filename = os.path.join(root, basename)
+        fo = file(filename)
+        text = fo.read()
+        fo.close()
+
+        text, updated = update(text)
+        if updated:
+          fo = file(filename, "w")
+          fo.write(text)
+          fo.close()
+          print 'UPDATED', filename
+        else:
+          print '       ', filename
diff --git a/gtsam/3rdparty/Eigen/test/adjoint.cpp b/gtsam/3rdparty/Eigen/test/adjoint.cpp
index 140283477..b6cf0a68b 100644
--- a/gtsam/3rdparty/Eigen/test/adjoint.cpp
+++ b/gtsam/3rdparty/Eigen/test/adjoint.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #define EIGEN_NO_STATIC_ASSERT
 
diff --git a/gtsam/3rdparty/Eigen/test/array.cpp b/gtsam/3rdparty/Eigen/test/array.cpp
index 912c28c88..3548fa641 100644
--- a/gtsam/3rdparty/Eigen/test/array.cpp
+++ b/gtsam/3rdparty/Eigen/test/array.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/array_for_matrix.cpp b/gtsam/3rdparty/Eigen/test/array_for_matrix.cpp
index 465b8998b..5a599c321 100644
--- a/gtsam/3rdparty/Eigen/test/array_for_matrix.cpp
+++ b/gtsam/3rdparty/Eigen/test/array_for_matrix.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
@@ -183,6 +168,38 @@ template<typename MatrixType> void cwise_min_max(const MatrixType& m)
   VERIFY_IS_APPROX(MatrixType::Constant(rows,cols, maxM1), m1.cwiseMax( maxM1));
   VERIFY_IS_APPROX(m1, m1.cwiseMax( minM1));
 
+  VERIFY_IS_APPROX(MatrixType::Constant(rows,cols, minM1).array(), (m1.array().min)( minM1));
+  VERIFY_IS_APPROX(m1.array(), (m1.array().min)( maxM1));
+
+  VERIFY_IS_APPROX(MatrixType::Constant(rows,cols, maxM1).array(), (m1.array().max)( maxM1));
+  VERIFY_IS_APPROX(m1.array(), (m1.array().max)( minM1));
+
+}
+
+template<typename MatrixTraits> void resize(const MatrixTraits& t)
+{
+  typedef typename MatrixTraits::Index Index;
+  typedef typename MatrixTraits::Scalar Scalar;
+  typedef Matrix<Scalar,Dynamic,Dynamic> MatrixType;
+  typedef Array<Scalar,Dynamic,Dynamic> Array2DType;
+  typedef Matrix<Scalar,Dynamic,1> VectorType;
+  typedef Array<Scalar,Dynamic,1> Array1DType;
+
+  Index rows = t.rows(), cols = t.cols();
+
+  MatrixType m(rows,cols);
+  VectorType v(rows);
+  Array2DType a2(rows,cols);
+  Array1DType a1(rows);
+
+  m.array().resize(rows+1,cols+1);
+  VERIFY(m.rows()==rows+1 && m.cols()==cols+1);
+  a2.matrix().resize(rows+1,cols+1);
+  VERIFY(a2.rows()==rows+1 && a2.cols()==cols+1);
+  v.array().resize(cols);
+  VERIFY(v.size()==cols);
+  a1.matrix().resize(cols);
+  VERIFY(a1.size()==cols);
 }
 
 void test_array_for_matrix()
@@ -217,4 +234,9 @@ void test_array_for_matrix()
     CALL_SUBTEST_5( lpNorm(VectorXf(internal::random<int>(1,EIGEN_TEST_MAX_SIZE))) );
     CALL_SUBTEST_4( lpNorm(VectorXcf(internal::random<int>(1,EIGEN_TEST_MAX_SIZE))) );
   }
+  for(int i = 0; i < g_repeat; i++) {
+    CALL_SUBTEST_4( resize(MatrixXcf(internal::random<int>(1,EIGEN_TEST_MAX_SIZE), internal::random<int>(1,EIGEN_TEST_MAX_SIZE))) );
+    CALL_SUBTEST_5( resize(MatrixXf(internal::random<int>(1,EIGEN_TEST_MAX_SIZE), internal::random<int>(1,EIGEN_TEST_MAX_SIZE))) );
+    CALL_SUBTEST_6( resize(MatrixXi(internal::random<int>(1,EIGEN_TEST_MAX_SIZE), internal::random<int>(1,EIGEN_TEST_MAX_SIZE))) );
+  }
 }
diff --git a/gtsam/3rdparty/Eigen/test/array_replicate.cpp b/gtsam/3rdparty/Eigen/test/array_replicate.cpp
index b3520b58c..94da7425b 100644
--- a/gtsam/3rdparty/Eigen/test/array_replicate.cpp
+++ b/gtsam/3rdparty/Eigen/test/array_replicate.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/array_reverse.cpp b/gtsam/3rdparty/Eigen/test/array_reverse.cpp
index fdede3760..fbe7a9901 100644
--- a/gtsam/3rdparty/Eigen/test/array_reverse.cpp
+++ b/gtsam/3rdparty/Eigen/test/array_reverse.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
 // Copyright (C) 2009 Ricard Marxer <email@ricardmarxer.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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <iostream>
diff --git a/gtsam/3rdparty/Eigen/test/bandmatrix.cpp b/gtsam/3rdparty/Eigen/test/bandmatrix.cpp
index 996886f43..5e4e8e07b 100644
--- a/gtsam/3rdparty/Eigen/test/bandmatrix.cpp
+++ b/gtsam/3rdparty/Eigen/test/bandmatrix.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/basicstuff.cpp b/gtsam/3rdparty/Eigen/test/basicstuff.cpp
index 76ecffd68..48db531c1 100644
--- a/gtsam/3rdparty/Eigen/test/basicstuff.cpp
+++ b/gtsam/3rdparty/Eigen/test/basicstuff.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #define EIGEN_NO_STATIC_ASSERT
 
diff --git a/gtsam/3rdparty/Eigen/test/bicgstab.cpp b/gtsam/3rdparty/Eigen/test/bicgstab.cpp
index 2b6403583..f327e2fac 100644
--- a/gtsam/3rdparty/Eigen/test/bicgstab.cpp
+++ b/gtsam/3rdparty/Eigen/test/bicgstab.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2011 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "sparse_solver.h"
 #include <Eigen/IterativeLinearSolvers>
diff --git a/gtsam/3rdparty/Eigen/test/block.cpp b/gtsam/3rdparty/Eigen/test/block.cpp
index 07d5ce792..0969262ca 100644
--- a/gtsam/3rdparty/Eigen/test/block.cpp
+++ b/gtsam/3rdparty/Eigen/test/block.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2006-2010 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #define EIGEN_NO_STATIC_ASSERT // otherwise we fail at compile time on unused paths
 #include "main.h"
diff --git a/gtsam/3rdparty/Eigen/test/cholesky.cpp b/gtsam/3rdparty/Eigen/test/cholesky.cpp
index 4f2516d26..14e01c006 100644
--- a/gtsam/3rdparty/Eigen/test/cholesky.cpp
+++ b/gtsam/3rdparty/Eigen/test/cholesky.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_NO_ASSERTION_CHECKING
 #define EIGEN_NO_ASSERTION_CHECKING
diff --git a/gtsam/3rdparty/Eigen/test/cholmod_support.cpp b/gtsam/3rdparty/Eigen/test/cholmod_support.cpp
index 1ebba2438..8f8be3c0e 100644
--- a/gtsam/3rdparty/Eigen/test/cholmod_support.cpp
+++ b/gtsam/3rdparty/Eigen/test/cholmod_support.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2011 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "sparse_solver.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/commainitializer.cpp b/gtsam/3rdparty/Eigen/test/commainitializer.cpp
index 1b21ba1c2..99102b966 100644
--- a/gtsam/3rdparty/Eigen/test/commainitializer.cpp
+++ b/gtsam/3rdparty/Eigen/test/commainitializer.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/conjugate_gradient.cpp b/gtsam/3rdparty/Eigen/test/conjugate_gradient.cpp
index f24f35817..869051b31 100644
--- a/gtsam/3rdparty/Eigen/test/conjugate_gradient.cpp
+++ b/gtsam/3rdparty/Eigen/test/conjugate_gradient.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2011 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "sparse_solver.h"
 #include <Eigen/IterativeLinearSolvers>
diff --git a/gtsam/3rdparty/Eigen/test/conservative_resize.cpp b/gtsam/3rdparty/Eigen/test/conservative_resize.cpp
index 781cf5aad..4d11e4075 100644
--- a/gtsam/3rdparty/Eigen/test/conservative_resize.cpp
+++ b/gtsam/3rdparty/Eigen/test/conservative_resize.cpp
@@ -1,26 +1,11 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
 // Copyright (C) 2009 Hauke Heibel <hauke.heibel@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 or1 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/corners.cpp b/gtsam/3rdparty/Eigen/test/corners.cpp
index d813b6b63..4705c5f05 100644
--- a/gtsam/3rdparty/Eigen/test/corners.cpp
+++ b/gtsam/3rdparty/Eigen/test/corners.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2006-2010 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
@@ -68,8 +53,8 @@ template<typename MatrixType, int CRows, int CCols, int SRows, int SCols> void c
     cols = MatrixType::ColsAtCompileTime,
     r = CRows,
     c = CCols,
-  sr = SRows,
-  sc = SCols
+	sr = SRows,
+	sc = SCols
   };
 
   VERIFY_IS_EQUAL((matrix.template topLeftCorner<r,c>()), (matrix.template block<r,c>(0,0)));
diff --git a/gtsam/3rdparty/Eigen/test/cwiseop.cpp b/gtsam/3rdparty/Eigen/test/cwiseop.cpp
index b3ca94e3a..ca6e4211c 100644
--- a/gtsam/3rdparty/Eigen/test/cwiseop.cpp
+++ b/gtsam/3rdparty/Eigen/test/cwiseop.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #define EIGEN2_SUPPORT
 #define EIGEN_NO_STATIC_ASSERT
diff --git a/gtsam/3rdparty/Eigen/test/determinant.cpp b/gtsam/3rdparty/Eigen/test/determinant.cpp
index 6c8d3baab..e93f2f297 100644
--- a/gtsam/3rdparty/Eigen/test/determinant.cpp
+++ b/gtsam/3rdparty/Eigen/test/determinant.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/LU>
diff --git a/gtsam/3rdparty/Eigen/test/diagonal.cpp b/gtsam/3rdparty/Eigen/test/diagonal.cpp
index 94a30e2f4..95cd10372 100644
--- a/gtsam/3rdparty/Eigen/test/diagonal.cpp
+++ b/gtsam/3rdparty/Eigen/test/diagonal.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2006-2010 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
@@ -51,19 +36,32 @@ template<typename MatrixType> void diagonal(const MatrixType& m)
     };
 
     // check sub/super diagonal
+    if(m1.template diagonal<N1>().RowsAtCompileTime!=Dynamic)
+    {
+      VERIFY(m1.template diagonal<N1>().RowsAtCompileTime == m1.diagonal(N1).size());
+    }
+    if(m1.template diagonal<N2>().RowsAtCompileTime!=Dynamic)
+    {
+      VERIFY(m1.template diagonal<N2>().RowsAtCompileTime == m1.diagonal(N2).size());
+    }
+
     m2.template diagonal<N1>() = 2 * m1.template diagonal<N1>();
+    VERIFY_IS_APPROX(m2.template diagonal<N1>(), static_cast<Scalar>(2) * m1.diagonal(N1));
     m2.template diagonal<N1>()[0] *= 3;
     VERIFY_IS_APPROX(m2.template diagonal<N1>()[0], static_cast<Scalar>(6) * m1.template diagonal<N1>()[0]);
 
+
     m2.template diagonal<N2>() = 2 * m1.template diagonal<N2>();
     m2.template diagonal<N2>()[0] *= 3;
     VERIFY_IS_APPROX(m2.template diagonal<N2>()[0], static_cast<Scalar>(6) * m1.template diagonal<N2>()[0]);
 
     m2.diagonal(N1) = 2 * m1.diagonal(N1);
+    VERIFY_IS_APPROX(m2.diagonal<N1>(), static_cast<Scalar>(2) * m1.diagonal(N1));
     m2.diagonal(N1)[0] *= 3;
     VERIFY_IS_APPROX(m2.diagonal(N1)[0], static_cast<Scalar>(6) * m1.diagonal(N1)[0]);
 
     m2.diagonal(N2) = 2 * m1.diagonal(N2);
+    VERIFY_IS_APPROX(m2.diagonal<N2>(), static_cast<Scalar>(2) * m1.diagonal(N2));
     m2.diagonal(N2)[0] *= 3;
     VERIFY_IS_APPROX(m2.diagonal(N2)[0], static_cast<Scalar>(6) * m1.diagonal(N2)[0]);
   }
@@ -73,6 +71,8 @@ void test_diagonal()
 {
   for(int i = 0; i < g_repeat; i++) {
     CALL_SUBTEST_1( diagonal(Matrix<float, 1, 1>()) );
+    CALL_SUBTEST_1( diagonal(Matrix<float, 4, 9>()) );
+    CALL_SUBTEST_1( diagonal(Matrix<float, 7, 3>()) );
     CALL_SUBTEST_2( diagonal(Matrix4d()) );
     CALL_SUBTEST_2( diagonal(MatrixXcf(internal::random<int>(1,EIGEN_TEST_MAX_SIZE), internal::random<int>(1,EIGEN_TEST_MAX_SIZE))) );
     CALL_SUBTEST_2( diagonal(MatrixXi(internal::random<int>(1,EIGEN_TEST_MAX_SIZE), internal::random<int>(1,EIGEN_TEST_MAX_SIZE))) );
diff --git a/gtsam/3rdparty/Eigen/test/diagonalmatrices.cpp b/gtsam/3rdparty/Eigen/test/diagonalmatrices.cpp
index d84f4e9f3..7e9c80d7b 100644
--- a/gtsam/3rdparty/Eigen/test/diagonalmatrices.cpp
+++ b/gtsam/3rdparty/Eigen/test/diagonalmatrices.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 using namespace std;
@@ -47,6 +32,8 @@ template<typename MatrixType> void diagonalmatrices(const MatrixType& m)
              rv2 = RowVectorType::Random(cols);
   LeftDiagonalMatrix ldm1(v1), ldm2(v2);
   RightDiagonalMatrix rdm1(rv1), rdm2(rv2);
+  
+  Scalar s1 = internal::random<Scalar>();
 
   SquareMatrixType sq_m1 (v1.asDiagonal());
   VERIFY_IS_APPROX(sq_m1, v1.asDiagonal().toDenseMatrix());
@@ -91,6 +78,13 @@ template<typename MatrixType> void diagonalmatrices(const MatrixType& m)
   big.block(i,j,rows,cols) = big.block(i,j,rows,cols) * rv1.asDiagonal();
   VERIFY_IS_APPROX((big.block(i,j,rows,cols)) , m1 * rv1.asDiagonal() );
   
+  
+  // scalar multiple
+  VERIFY_IS_APPROX(LeftDiagonalMatrix(ldm1*s1).diagonal(), ldm1.diagonal() * s1);
+  VERIFY_IS_APPROX(LeftDiagonalMatrix(s1*ldm1).diagonal(), s1 * ldm1.diagonal());
+  
+  VERIFY_IS_APPROX(m1 * (rdm1 * s1), (m1 * rdm1) * s1);
+  VERIFY_IS_APPROX(m1 * (s1 * rdm1), (m1 * rdm1) * s1);
 }
 
 void test_diagonalmatrices()
diff --git a/gtsam/3rdparty/Eigen/test/dontalign.cpp b/gtsam/3rdparty/Eigen/test/dontalign.cpp
index 57ed4736b..4643cfed6 100644
--- a/gtsam/3rdparty/Eigen/test/dontalign.cpp
+++ b/gtsam/3rdparty/Eigen/test/dontalign.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2011 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #if defined EIGEN_TEST_PART_1 || defined EIGEN_TEST_PART_2 || defined EIGEN_TEST_PART_3 || defined EIGEN_TEST_PART_4
 #define EIGEN_DONT_ALIGN
diff --git a/gtsam/3rdparty/Eigen/test/dynalloc.cpp b/gtsam/3rdparty/Eigen/test/dynalloc.cpp
index 929e603bc..c7ccbffef 100644
--- a/gtsam/3rdparty/Eigen/test/dynalloc.cpp
+++ b/gtsam/3rdparty/Eigen/test/dynalloc.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_adjoint.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_adjoint.cpp
index c55235fe6..8ec9c9202 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_adjoint.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_adjoint.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_alignedbox.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_alignedbox.cpp
index c24c11d03..35043b958 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_alignedbox.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_alignedbox.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/Geometry>
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_array.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_array.cpp
index 03977e446..c1ff40ce7 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_array.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_array.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/Array>
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_basicstuff.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_basicstuff.cpp
index a09930fae..4fa16d5ae 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_basicstuff.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_basicstuff.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_bug_132.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_bug_132.cpp
index 7c33e394f..7fe3610ce 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_bug_132.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_bug_132.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_cholesky.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_cholesky.cpp
index 5b2bbdaca..9c4b6f561 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_cholesky.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_cholesky.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #define EIGEN_NO_ASSERTION_CHECKING
 #include "main.h"
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_commainitializer.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_commainitializer.cpp
index 294ca446a..e0f901e0b 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_commainitializer.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_commainitializer.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_cwiseop.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_cwiseop.cpp
index cc647d372..4391d19b4 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_cwiseop.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_cwiseop.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <functional>
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_determinant.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_determinant.cpp
index 5a01856bf..c7b4ad053 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_determinant.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_determinant.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/LU>
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_dynalloc.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_dynalloc.cpp
index 6a32ebb73..1891a9e33 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_dynalloc.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_dynalloc.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_eigensolver.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_eigensolver.cpp
index cd3dd60b1..48b4ace43 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_eigensolver.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_eigensolver.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/QR>
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_first_aligned.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_first_aligned.cpp
index f6a4a3ba2..51bb3cad1 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_first_aligned.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_first_aligned.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_geometry.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_geometry.cpp
index 8b9ffd186..70b4ab5f1 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_geometry.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_geometry.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/Geometry>
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_geometry_with_eigen2_prefix.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_geometry_with_eigen2_prefix.cpp
index 202218a05..f83b57249 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_geometry_with_eigen2_prefix.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_geometry_with_eigen2_prefix.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #define EIGEN2_SUPPORT_STAGE15_RESOLVE_API_CONFLICTS_WARN
 
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_hyperplane.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_hyperplane.cpp
index 63febc557..f3f85e14d 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_hyperplane.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_hyperplane.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 // Copyright (C) 2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/Geometry>
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_inverse.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_inverse.cpp
index aa8b1146a..5de1dfefa 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_inverse.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_inverse.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 // Copyright (C) 2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/LU>
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_linearstructure.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_linearstructure.cpp
index 0e970df55..22f02c396 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_linearstructure.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_linearstructure.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_lu.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_lu.cpp
index fcb375186..e993b1c7c 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_lu.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_lu.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/LU>
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_map.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_map.cpp
index 296902a8f..4a1c4e11a 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_map.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_map.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2007-2010 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_meta.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_meta.cpp
index 4afbafcdf..1d01bd84d 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_meta.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_meta.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_miscmatrices.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_miscmatrices.cpp
index 95cfa3df9..8bbb20cc8 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_miscmatrices.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_miscmatrices.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_mixingtypes.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_mixingtypes.cpp
index 0ad3e4bbd..fb5ac5dda 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_mixingtypes.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_mixingtypes.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 // Copyright (C) 2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_NO_STATIC_ASSERT
 #define EIGEN_NO_STATIC_ASSERT // turn static asserts into runtime asserts in order to check them
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_newstdvector.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_newstdvector.cpp
index c107f4f8d..5f9009901 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_newstdvector.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_newstdvector.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #define EIGEN_USE_NEW_STDVECTOR
 #include "main.h"
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_nomalloc.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_nomalloc.cpp
index 7d28e4cca..e234abe4b 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_nomalloc.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_nomalloc.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 // this hack is needed to make this file compiles with -pedantic (gcc)
 #ifdef __GNUC__
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_packetmath.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_packetmath.cpp
index 11384b1a8..b1f325fe7 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_packetmath.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_packetmath.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_parametrizedline.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_parametrizedline.cpp
index a301be815..814728870 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_parametrizedline.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_parametrizedline.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 // Copyright (C) 2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/Geometry>
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_prec_inverse_4x4.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_prec_inverse_4x4.cpp
index 5117c8095..8bfa55694 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_prec_inverse_4x4.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_prec_inverse_4x4.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/LU>
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_product_large.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_product_large.cpp
index 0ecc5d623..5149ef748 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_product_large.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_product_large.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "product.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_product_small.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_product_small.cpp
index 2a445d12a..4cd8c102f 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_product_small.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_product_small.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #define EIGEN_NO_STATIC_ASSERT
 #include "product.h"
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_qr.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_qr.cpp
index e6231208d..76977e4c1 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_qr.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_qr.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/QR>
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_qtvector.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_qtvector.cpp
index 8c4446637..6cfb58a26 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_qtvector.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_qtvector.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 // Copyright (C) 2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #define EIGEN_WORK_AROUND_QT_BUG_CALLING_WRONG_OPERATOR_NEW_FIXED_IN_QT_4_5
 
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_regression.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_regression.cpp
index aed462b8b..c68b58da8 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_regression.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_regression.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/LeastSquares>
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_sizeof.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_sizeof.cpp
index 73ed533e0..ec1af5a06 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_sizeof.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_sizeof.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_smallvectors.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_smallvectors.cpp
index 163c3e653..03962b17d 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_smallvectors.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_smallvectors.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_sparse_basic.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_sparse_basic.cpp
index d9acbc8d6..049077670 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_sparse_basic.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_sparse_basic.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Daniel Gomez Ferro <dgomezferro@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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "sparse.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_sparse_product.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_sparse_product.cpp
index 6260cdddb..d28e76dff 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_sparse_product.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_sparse_product.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Daniel Gomez Ferro <dgomezferro@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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "sparse.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_sparse_solvers.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_sparse_solvers.cpp
index f141af314..3aef27ab4 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_sparse_solvers.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_sparse_solvers.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Daniel Gomez Ferro <dgomezferro@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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "sparse.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_sparse_vector.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_sparse_vector.cpp
index 2047c3f76..e6d2d77a1 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_sparse_vector.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_sparse_vector.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Daniel Gomez Ferro <dgomezferro@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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "sparse.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_stdvector.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_stdvector.cpp
index 6c4725180..6ab05c20a 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_stdvector.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_stdvector.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include <Eigen/StdVector>
 #include "main.h"
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_submatrices.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_submatrices.cpp
index a86c71358..c5d3f243d 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_submatrices.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_submatrices.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_sum.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_sum.cpp
index aabf49c22..b47057caa 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_sum.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_sum.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_svd.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_svd.cpp
index f74b13ea7..d4689a56f 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_svd.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_svd.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/SVD>
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_swap.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_swap.cpp
index 25a028523..f3a8846d9 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_swap.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_swap.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #define EIGEN_NO_STATIC_ASSERT
 #include "main.h"
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_triangular.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_triangular.cpp
index 30ef1b20b..3748c7d71 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_triangular.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_triangular.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_unalignedassert.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_unalignedassert.cpp
index 80dd1188c..d10b6f538 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_unalignedassert.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_unalignedassert.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_visitor.cpp b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_visitor.cpp
index db650b73d..4781991de 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/eigen2_visitor.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2/eigen2_visitor.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/gsl_helper.h b/gtsam/3rdparty/Eigen/test/eigen2/gsl_helper.h
index 6d786749b..d1d854533 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/gsl_helper.h
+++ b/gtsam/3rdparty/Eigen/test/eigen2/gsl_helper.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_GSL_HELPER
 #define EIGEN_GSL_HELPER
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/main.h b/gtsam/3rdparty/Eigen/test/eigen2/main.h
index 6f126e1cf..ad2ba1994 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/main.h
+++ b/gtsam/3rdparty/Eigen/test/eigen2/main.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include <cstdlib>
 #include <ctime>
@@ -114,7 +99,7 @@ namespace Eigen
 
     // see bug 89. The copy_bool here is working around a bug in gcc <= 4.3
     #define eigen_assert(a) \
-      if( (!Eigen::internal::copy_bool(a)) && (!no_more_assert) )  \
+      if( (!Eigen::internal::copy_bool(a)) && (!no_more_assert) )	\
       {                                     \
         Eigen::no_more_assert = true;       \
         throw Eigen::eigen_assert_exception(); \
@@ -400,7 +385,7 @@ int main(int argc, char *argv[])
     if(!has_set_repeat) repeat = DEFAULT_REPEAT;
 
     std::cout << "Initializing random number generator with seed " << seed << std::endl;
-  std::srand(seed);
+	std::srand(seed);
     std::cout << "Repeating each test " << repeat << " times" << std::endl;
 
     Eigen::g_repeat = repeat;
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/product.h b/gtsam/3rdparty/Eigen/test/eigen2/product.h
index ec84ff92b..2c9604d9a 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/product.h
+++ b/gtsam/3rdparty/Eigen/test/eigen2/product.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/Array>
diff --git a/gtsam/3rdparty/Eigen/test/eigen2/sparse.h b/gtsam/3rdparty/Eigen/test/eigen2/sparse.h
index 80d99dc5b..e12f89990 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2/sparse.h
+++ b/gtsam/3rdparty/Eigen/test/eigen2/sparse.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Daniel Gomez Ferro <dgomezferro@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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_TESTSPARSE_H
 
diff --git a/gtsam/3rdparty/Eigen/test/eigen2support.cpp b/gtsam/3rdparty/Eigen/test/eigen2support.cpp
index 5d0202e34..7e02bdf5b 100644
--- a/gtsam/3rdparty/Eigen/test/eigen2support.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigen2support.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #define EIGEN2_SUPPORT
 
diff --git a/gtsam/3rdparty/Eigen/test/eigensolver_complex.cpp b/gtsam/3rdparty/Eigen/test/eigensolver_complex.cpp
index 1cd55a2cd..0c2059512 100644
--- a/gtsam/3rdparty/Eigen/test/eigensolver_complex.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigensolver_complex.cpp
@@ -1,27 +1,12 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <limits>
diff --git a/gtsam/3rdparty/Eigen/test/eigensolver_generic.cpp b/gtsam/3rdparty/Eigen/test/eigensolver_generic.cpp
index 2e9cdc7a5..0b55ccd93 100644
--- a/gtsam/3rdparty/Eigen/test/eigensolver_generic.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigensolver_generic.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <limits>
diff --git a/gtsam/3rdparty/Eigen/test/eigensolver_selfadjoint.cpp b/gtsam/3rdparty/Eigen/test/eigensolver_selfadjoint.cpp
index 26d3d1f70..02dbdb429 100644
--- a/gtsam/3rdparty/Eigen/test/eigensolver_selfadjoint.cpp
+++ b/gtsam/3rdparty/Eigen/test/eigensolver_selfadjoint.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <limits>
diff --git a/gtsam/3rdparty/Eigen/test/exceptions.cpp b/gtsam/3rdparty/Eigen/test/exceptions.cpp
index c28cd1b0b..8c48b2f7b 100644
--- a/gtsam/3rdparty/Eigen/test/exceptions.cpp
+++ b/gtsam/3rdparty/Eigen/test/exceptions.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2011 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 
 // Various sanity tests with exceptions:
diff --git a/gtsam/3rdparty/Eigen/test/first_aligned.cpp b/gtsam/3rdparty/Eigen/test/first_aligned.cpp
index b4ccb22cd..467f94510 100644
--- a/gtsam/3rdparty/Eigen/test/first_aligned.cpp
+++ b/gtsam/3rdparty/Eigen/test/first_aligned.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/geo_alignedbox.cpp b/gtsam/3rdparty/Eigen/test/geo_alignedbox.cpp
index 724133725..5886f9181 100644
--- a/gtsam/3rdparty/Eigen/test/geo_alignedbox.cpp
+++ b/gtsam/3rdparty/Eigen/test/geo_alignedbox.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/Geometry>
diff --git a/gtsam/3rdparty/Eigen/test/geo_eulerangles.cpp b/gtsam/3rdparty/Eigen/test/geo_eulerangles.cpp
index 8029a694e..9bf149d2a 100644
--- a/gtsam/3rdparty/Eigen/test/geo_eulerangles.cpp
+++ b/gtsam/3rdparty/Eigen/test/geo_eulerangles.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/Geometry>
diff --git a/gtsam/3rdparty/Eigen/test/geo_homogeneous.cpp b/gtsam/3rdparty/Eigen/test/geo_homogeneous.cpp
index 3efcb77db..c91bde819 100644
--- a/gtsam/3rdparty/Eigen/test/geo_homogeneous.cpp
+++ b/gtsam/3rdparty/Eigen/test/geo_homogeneous.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/Geometry>
diff --git a/gtsam/3rdparty/Eigen/test/geo_hyperplane.cpp b/gtsam/3rdparty/Eigen/test/geo_hyperplane.cpp
index f536b8a3c..3fc80c4c7 100644
--- a/gtsam/3rdparty/Eigen/test/geo_hyperplane.cpp
+++ b/gtsam/3rdparty/Eigen/test/geo_hyperplane.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/Geometry>
diff --git a/gtsam/3rdparty/Eigen/test/geo_orthomethods.cpp b/gtsam/3rdparty/Eigen/test/geo_orthomethods.cpp
index aa3c8b61d..c836dae40 100644
--- a/gtsam/3rdparty/Eigen/test/geo_orthomethods.cpp
+++ b/gtsam/3rdparty/Eigen/test/geo_orthomethods.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/Geometry>
diff --git a/gtsam/3rdparty/Eigen/test/geo_parametrizedline.cpp b/gtsam/3rdparty/Eigen/test/geo_parametrizedline.cpp
index a289e70de..4e1f845dd 100644
--- a/gtsam/3rdparty/Eigen/test/geo_parametrizedline.cpp
+++ b/gtsam/3rdparty/Eigen/test/geo_parametrizedline.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/Geometry>
diff --git a/gtsam/3rdparty/Eigen/test/geo_quaternion.cpp b/gtsam/3rdparty/Eigen/test/geo_quaternion.cpp
index b73ae9cd4..6e6922864 100644
--- a/gtsam/3rdparty/Eigen/test/geo_quaternion.cpp
+++ b/gtsam/3rdparty/Eigen/test/geo_quaternion.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2009 Mathieu Gautier <mathieu.gautier@cea.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/Geometry>
diff --git a/gtsam/3rdparty/Eigen/test/geo_transformations.cpp b/gtsam/3rdparty/Eigen/test/geo_transformations.cpp
index e9f05cfb6..f4d65aabc 100644
--- a/gtsam/3rdparty/Eigen/test/geo_transformations.cpp
+++ b/gtsam/3rdparty/Eigen/test/geo_transformations.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/Geometry>
@@ -415,6 +400,9 @@ template<typename Scalar, int Mode, int Options> void transformations()
   Rotation2D<double> r2d1d = r2d1.template cast<double>();
   VERIFY_IS_APPROX(r2d1d.template cast<Scalar>(),r2d1);
 
+  t20 = Translation2(v20) * (Rotation2D<Scalar>(s0) * Scaling(s0));
+  t21 = Translation2(v20) * Rotation2D<Scalar>(s0) * Scaling(s0);
+  VERIFY_IS_APPROX(t20,t21);
 }
 
 template<typename Scalar> void transform_alignment()
diff --git a/gtsam/3rdparty/Eigen/test/hessenberg.cpp b/gtsam/3rdparty/Eigen/test/hessenberg.cpp
index 1e1090f74..96bc19e2e 100644
--- a/gtsam/3rdparty/Eigen/test/hessenberg.cpp
+++ b/gtsam/3rdparty/Eigen/test/hessenberg.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/Eigenvalues>
@@ -39,7 +24,7 @@ template<typename Scalar,int Size> void hessenberg(int size = Size)
     VERIFY_IS_APPROX(m, Q * H * Q.adjoint());
     for(int row = 2; row < size; ++row) {
       for(int col = 0; col < row-1; ++col) {
-  VERIFY(H(row,col) == (typename MatrixType::Scalar)0);
+	VERIFY(H(row,col) == (typename MatrixType::Scalar)0);
       }
     }
   }
diff --git a/gtsam/3rdparty/Eigen/test/householder.cpp b/gtsam/3rdparty/Eigen/test/householder.cpp
index 6f6f317ea..203dce46c 100644
--- a/gtsam/3rdparty/Eigen/test/householder.cpp
+++ b/gtsam/3rdparty/Eigen/test/householder.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009-2010 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/QR>
diff --git a/gtsam/3rdparty/Eigen/test/integer_types.cpp b/gtsam/3rdparty/Eigen/test/integer_types.cpp
index b27bb0a2a..950f8e9be 100644
--- a/gtsam/3rdparty/Eigen/test/integer_types.cpp
+++ b/gtsam/3rdparty/Eigen/test/integer_types.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #define EIGEN_NO_STATIC_ASSERT
 
diff --git a/gtsam/3rdparty/Eigen/test/inverse.cpp b/gtsam/3rdparty/Eigen/test/inverse.cpp
index 81702432f..cff42dd8d 100644
--- a/gtsam/3rdparty/Eigen/test/inverse.cpp
+++ b/gtsam/3rdparty/Eigen/test/inverse.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/LU>
diff --git a/gtsam/3rdparty/Eigen/test/jacobi.cpp b/gtsam/3rdparty/Eigen/test/jacobi.cpp
index 4d462226c..f64f5d08f 100644
--- a/gtsam/3rdparty/Eigen/test/jacobi.cpp
+++ b/gtsam/3rdparty/Eigen/test/jacobi.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/SVD>
diff --git a/gtsam/3rdparty/Eigen/test/jacobisvd.cpp b/gtsam/3rdparty/Eigen/test/jacobisvd.cpp
index 3012fbe75..f6c567829 100644
--- a/gtsam/3rdparty/Eigen/test/jacobisvd.cpp
+++ b/gtsam/3rdparty/Eigen/test/jacobisvd.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 // discard stack allocation as that too bypasses malloc
 #define EIGEN_STACK_ALLOCATION_LIMIT 0
diff --git a/gtsam/3rdparty/Eigen/test/linearstructure.cpp b/gtsam/3rdparty/Eigen/test/linearstructure.cpp
index bbfdaacc1..fd071c995 100644
--- a/gtsam/3rdparty/Eigen/test/linearstructure.cpp
+++ b/gtsam/3rdparty/Eigen/test/linearstructure.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/lu.cpp b/gtsam/3rdparty/Eigen/test/lu.cpp
index 253f68542..6cbcb0a95 100644
--- a/gtsam/3rdparty/Eigen/test/lu.cpp
+++ b/gtsam/3rdparty/Eigen/test/lu.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/LU>
diff --git a/gtsam/3rdparty/Eigen/test/main.h b/gtsam/3rdparty/Eigen/test/main.h
index 991194e30..2da327c17 100644
--- a/gtsam/3rdparty/Eigen/test/main.h
+++ b/gtsam/3rdparty/Eigen/test/main.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include <cstdlib>
 #include <cerrno>
diff --git a/gtsam/3rdparty/Eigen/test/map.cpp b/gtsam/3rdparty/Eigen/test/map.cpp
index 931ee5db6..fe983e802 100644
--- a/gtsam/3rdparty/Eigen/test/map.cpp
+++ b/gtsam/3rdparty/Eigen/test/map.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2006-2010 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_NO_STATIC_ASSERT
 #define EIGEN_NO_STATIC_ASSERT // turn static asserts into runtime asserts in order to check them
diff --git a/gtsam/3rdparty/Eigen/test/mapstaticmethods.cpp b/gtsam/3rdparty/Eigen/test/mapstaticmethods.cpp
index 3423f2bec..5b512bde4 100644
--- a/gtsam/3rdparty/Eigen/test/mapstaticmethods.cpp
+++ b/gtsam/3rdparty/Eigen/test/mapstaticmethods.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2011 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/mapstride.cpp b/gtsam/3rdparty/Eigen/test/mapstride.cpp
index e2bda99ce..fe35b9d23 100644
--- a/gtsam/3rdparty/Eigen/test/mapstride.cpp
+++ b/gtsam/3rdparty/Eigen/test/mapstride.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/meta.cpp b/gtsam/3rdparty/Eigen/test/meta.cpp
index e8c95920b..dc1d128d5 100644
--- a/gtsam/3rdparty/Eigen/test/meta.cpp
+++ b/gtsam/3rdparty/Eigen/test/meta.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/miscmatrices.cpp b/gtsam/3rdparty/Eigen/test/miscmatrices.cpp
index 327ceaedb..af0481cfe 100644
--- a/gtsam/3rdparty/Eigen/test/miscmatrices.cpp
+++ b/gtsam/3rdparty/Eigen/test/miscmatrices.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/mixingtypes.cpp b/gtsam/3rdparty/Eigen/test/mixingtypes.cpp
index 6819f934e..6c2f74875 100644
--- a/gtsam/3rdparty/Eigen/test/mixingtypes.cpp
+++ b/gtsam/3rdparty/Eigen/test/mixingtypes.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 // work around "uninitialized" warnings and give that option some testing
 #define EIGEN_INITIALIZE_MATRICES_BY_ZERO
diff --git a/gtsam/3rdparty/Eigen/test/nesting_ops.cpp b/gtsam/3rdparty/Eigen/test/nesting_ops.cpp
index ce7109329..938ebcb7a 100644
--- a/gtsam/3rdparty/Eigen/test/nesting_ops.cpp
+++ b/gtsam/3rdparty/Eigen/test/nesting_ops.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010 Hauke Heibel <hauke.heibel@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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/nomalloc.cpp b/gtsam/3rdparty/Eigen/test/nomalloc.cpp
index 1feeff4bc..d4ffcefcb 100644
--- a/gtsam/3rdparty/Eigen/test/nomalloc.cpp
+++ b/gtsam/3rdparty/Eigen/test/nomalloc.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 // this hack is needed to make this file compiles with -pedantic (gcc)
 #ifdef __GNUC__
@@ -165,7 +150,7 @@ void ctms_decompositions()
   X = hQR.solve(B);
   x = hQR.solve(b);
   Eigen::ColPivHouseholderQR<Matrix>  cpQR; cpQR.compute(A);
-  // FIXME X = cpQR.solve(B);
+  X = cpQR.solve(B);
   x = cpQR.solve(b);
   Eigen::FullPivHouseholderQR<Matrix> fpQR; fpQR.compute(A);
   // FIXME X = fpQR.solve(B);
diff --git a/gtsam/3rdparty/Eigen/test/nullary.cpp b/gtsam/3rdparty/Eigen/test/nullary.cpp
index 6c9ee5f34..1220e3f97 100644
--- a/gtsam/3rdparty/Eigen/test/nullary.cpp
+++ b/gtsam/3rdparty/Eigen/test/nullary.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010-2011 Jitse Niesen <jitse@maths.leeds.ac.uk>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/packetmath.cpp b/gtsam/3rdparty/Eigen/test/packetmath.cpp
index 279f080b0..c1464e994 100644
--- a/gtsam/3rdparty/Eigen/test/packetmath.cpp
+++ b/gtsam/3rdparty/Eigen/test/packetmath.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/pastix_support.cpp b/gtsam/3rdparty/Eigen/test/pastix_support.cpp
index dbce30d1c..0e57227f9 100644
--- a/gtsam/3rdparty/Eigen/test/pastix_support.cpp
+++ b/gtsam/3rdparty/Eigen/test/pastix_support.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2008-2012 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 #include "sparse_solver.h"
 #include <Eigen/PaStiXSupport>
 #include <unsupported/Eigen/SparseExtra>
diff --git a/gtsam/3rdparty/Eigen/test/permutationmatrices.cpp b/gtsam/3rdparty/Eigen/test/permutationmatrices.cpp
index 308838c70..00f666ccd 100644
--- a/gtsam/3rdparty/Eigen/test/permutationmatrices.cpp
+++ b/gtsam/3rdparty/Eigen/test/permutationmatrices.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/prec_inverse_4x4.cpp b/gtsam/3rdparty/Eigen/test/prec_inverse_4x4.cpp
index 8ae8311a7..f7d0aff70 100644
--- a/gtsam/3rdparty/Eigen/test/prec_inverse_4x4.cpp
+++ b/gtsam/3rdparty/Eigen/test/prec_inverse_4x4.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/LU>
diff --git a/gtsam/3rdparty/Eigen/test/product.h b/gtsam/3rdparty/Eigen/test/product.h
index e77f8c41e..4aa9fd56d 100644
--- a/gtsam/3rdparty/Eigen/test/product.h
+++ b/gtsam/3rdparty/Eigen/test/product.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2006-2008 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
-// 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.f 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/QR>
diff --git a/gtsam/3rdparty/Eigen/test/product_extra.cpp b/gtsam/3rdparty/Eigen/test/product_extra.cpp
index ca302b469..6f962159e 100644
--- a/gtsam/3rdparty/Eigen/test/product_extra.cpp
+++ b/gtsam/3rdparty/Eigen/test/product_extra.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
@@ -150,6 +135,35 @@ void zero_sized_objects()
   a*b;
 }
 
+void unaligned_objects()
+{
+  // Regression test for the bug reported here:
+  // http://forum.kde.org/viewtopic.php?f=74&t=107541
+  // Recall the matrix*vector kernel avoid unaligned loads by loading two packets and then reassemble then.
+  // There was a mistake in the computation of the valid range for fully unaligned objects: in some rare cases,
+  // memory was read outside the allocated matrix memory. Though the values were not used, this might raise segfault.
+  for(int m=450;m<460;++m)
+  {
+    for(int n=8;n<12;++n)
+    {
+      MatrixXf M(m, n);
+      VectorXf v1(n), r1(500);
+      RowVectorXf v2(m), r2(16);
+
+      M.setRandom();
+      v1.setRandom();
+      v2.setRandom();
+      for(int o=0; o<4; ++o)
+      {
+        r1.segment(o,m).noalias() = M * v1;
+        VERIFY_IS_APPROX(r1.segment(o,m), M * MatrixXf(v1));
+        r2.segment(o,n).noalias() = v2 * M;
+        VERIFY_IS_APPROX(r2.segment(o,n), MatrixXf(v2) * M);
+      }
+    }
+  }
+}
+
 void test_product_extra()
 {
   for(int i = 0; i < g_repeat; i++) {
@@ -158,6 +172,7 @@ void test_product_extra()
     CALL_SUBTEST_2( mat_mat_scalar_scalar_product() );
     CALL_SUBTEST_3( product_extra(MatrixXcf(internal::random<int>(1,EIGEN_TEST_MAX_SIZE/2), internal::random<int>(1,EIGEN_TEST_MAX_SIZE/2))) );
     CALL_SUBTEST_4( product_extra(MatrixXcd(internal::random<int>(1,EIGEN_TEST_MAX_SIZE/2), internal::random<int>(1,EIGEN_TEST_MAX_SIZE/2))) );
-    CALL_SUBTEST_5( zero_sized_objects() );
   }
+  CALL_SUBTEST_5( zero_sized_objects() );
+  CALL_SUBTEST_6( unaligned_objects() );
 }
diff --git a/gtsam/3rdparty/Eigen/test/product_large.cpp b/gtsam/3rdparty/Eigen/test/product_large.cpp
index 6f7a91b84..03d7bd8ed 100644
--- a/gtsam/3rdparty/Eigen/test/product_large.cpp
+++ b/gtsam/3rdparty/Eigen/test/product_large.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "product.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/product_mmtr.cpp b/gtsam/3rdparty/Eigen/test/product_mmtr.cpp
index c6ceb487f..879cfe16a 100644
--- a/gtsam/3rdparty/Eigen/test/product_mmtr.cpp
+++ b/gtsam/3rdparty/Eigen/test/product_mmtr.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/product_notemporary.cpp b/gtsam/3rdparty/Eigen/test/product_notemporary.cpp
index 1a9dc14d9..cf9dbdd03 100644
--- a/gtsam/3rdparty/Eigen/test/product_notemporary.cpp
+++ b/gtsam/3rdparty/Eigen/test/product_notemporary.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 static int nb_temporaries;
 
diff --git a/gtsam/3rdparty/Eigen/test/product_selfadjoint.cpp b/gtsam/3rdparty/Eigen/test/product_selfadjoint.cpp
index 6c1d83bf2..95693b155 100644
--- a/gtsam/3rdparty/Eigen/test/product_selfadjoint.cpp
+++ b/gtsam/3rdparty/Eigen/test/product_selfadjoint.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/product_small.cpp b/gtsam/3rdparty/Eigen/test/product_small.cpp
index cf430a2d3..8b132abb6 100644
--- a/gtsam/3rdparty/Eigen/test/product_small.cpp
+++ b/gtsam/3rdparty/Eigen/test/product_small.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #define EIGEN_NO_STATIC_ASSERT
 #include "product.h"
diff --git a/gtsam/3rdparty/Eigen/test/product_symm.cpp b/gtsam/3rdparty/Eigen/test/product_symm.cpp
index 4585c3b6a..2f7a0d231 100644
--- a/gtsam/3rdparty/Eigen/test/product_symm.cpp
+++ b/gtsam/3rdparty/Eigen/test/product_symm.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/product_syrk.cpp b/gtsam/3rdparty/Eigen/test/product_syrk.cpp
index 71285acb1..5855c2181 100644
--- a/gtsam/3rdparty/Eigen/test/product_syrk.cpp
+++ b/gtsam/3rdparty/Eigen/test/product_syrk.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/product_trmm.cpp b/gtsam/3rdparty/Eigen/test/product_trmm.cpp
index dab05d8b0..64244c18f 100644
--- a/gtsam/3rdparty/Eigen/test/product_trmm.cpp
+++ b/gtsam/3rdparty/Eigen/test/product_trmm.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/product_trmv.cpp b/gtsam/3rdparty/Eigen/test/product_trmv.cpp
index 52707d22b..435018e8e 100644
--- a/gtsam/3rdparty/Eigen/test/product_trmv.cpp
+++ b/gtsam/3rdparty/Eigen/test/product_trmv.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/product_trsolve.cpp b/gtsam/3rdparty/Eigen/test/product_trsolve.cpp
index 20380accd..69892b3a8 100644
--- a/gtsam/3rdparty/Eigen/test/product_trsolve.cpp
+++ b/gtsam/3rdparty/Eigen/test/product_trsolve.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/qr.cpp b/gtsam/3rdparty/Eigen/test/qr.cpp
index 6005c0e27..37fb7aa4d 100644
--- a/gtsam/3rdparty/Eigen/test/qr.cpp
+++ b/gtsam/3rdparty/Eigen/test/qr.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/QR>
diff --git a/gtsam/3rdparty/Eigen/test/qr_colpivoting.cpp b/gtsam/3rdparty/Eigen/test/qr_colpivoting.cpp
index cdcf060ef..dd0812819 100644
--- a/gtsam/3rdparty/Eigen/test/qr_colpivoting.cpp
+++ b/gtsam/3rdparty/Eigen/test/qr_colpivoting.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/QR>
diff --git a/gtsam/3rdparty/Eigen/test/qr_fullpivoting.cpp b/gtsam/3rdparty/Eigen/test/qr_fullpivoting.cpp
index d281b26a8..e5c9790c8 100644
--- a/gtsam/3rdparty/Eigen/test/qr_fullpivoting.cpp
+++ b/gtsam/3rdparty/Eigen/test/qr_fullpivoting.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/QR>
diff --git a/gtsam/3rdparty/Eigen/test/qtvector.cpp b/gtsam/3rdparty/Eigen/test/qtvector.cpp
index d299379e3..2be885e48 100644
--- a/gtsam/3rdparty/Eigen/test/qtvector.cpp
+++ b/gtsam/3rdparty/Eigen/test/qtvector.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #define EIGEN_WORK_AROUND_QT_BUG_CALLING_WRONG_OPERATOR_NEW_FIXED_IN_QT_4_5
 
diff --git a/gtsam/3rdparty/Eigen/test/redux.cpp b/gtsam/3rdparty/Eigen/test/redux.cpp
index 61d1bf911..e07d4b1e4 100644
--- a/gtsam/3rdparty/Eigen/test/redux.cpp
+++ b/gtsam/3rdparty/Eigen/test/redux.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/resize.cpp b/gtsam/3rdparty/Eigen/test/resize.cpp
index 48818ac46..4adaafe56 100644
--- a/gtsam/3rdparty/Eigen/test/resize.cpp
+++ b/gtsam/3rdparty/Eigen/test/resize.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Keir Mierle <mierle@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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/schur_complex.cpp b/gtsam/3rdparty/Eigen/test/schur_complex.cpp
index b2a9d6d6b..a6f66ab02 100644
--- a/gtsam/3rdparty/Eigen/test/schur_complex.cpp
+++ b/gtsam/3rdparty/Eigen/test/schur_complex.cpp
@@ -1,26 +1,11 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
 // Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <limits>
@@ -40,7 +25,7 @@ template<typename MatrixType> void schur(int size = MatrixType::ColsAtCompileTim
     ComplexMatrixType T = schurOfA.matrixT();
     for(int row = 1; row < size; ++row) {
       for(int col = 0; col < row; ++col) {
-  VERIFY(T(row,col) == (typename MatrixType::Scalar)0);
+	VERIFY(T(row,col) == (typename MatrixType::Scalar)0);
       }
     }
     VERIFY_IS_APPROX(A.template cast<ComplexScalar>(), U * T * U.adjoint());
diff --git a/gtsam/3rdparty/Eigen/test/schur_real.cpp b/gtsam/3rdparty/Eigen/test/schur_real.cpp
index ba0947d8c..e6351d94a 100644
--- a/gtsam/3rdparty/Eigen/test/schur_real.cpp
+++ b/gtsam/3rdparty/Eigen/test/schur_real.cpp
@@ -1,26 +1,11 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
 // Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <limits>
diff --git a/gtsam/3rdparty/Eigen/test/selfadjoint.cpp b/gtsam/3rdparty/Eigen/test/selfadjoint.cpp
index db66017c1..6d3ec6536 100644
--- a/gtsam/3rdparty/Eigen/test/selfadjoint.cpp
+++ b/gtsam/3rdparty/Eigen/test/selfadjoint.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/simplicial_cholesky.cpp b/gtsam/3rdparty/Eigen/test/simplicial_cholesky.cpp
index f1af0e467..e93a52e9c 100644
--- a/gtsam/3rdparty/Eigen/test/simplicial_cholesky.cpp
+++ b/gtsam/3rdparty/Eigen/test/simplicial_cholesky.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2011 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "sparse_solver.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/sizeof.cpp b/gtsam/3rdparty/Eigen/test/sizeof.cpp
index d075c606e..68463c9b6 100644
--- a/gtsam/3rdparty/Eigen/test/sizeof.cpp
+++ b/gtsam/3rdparty/Eigen/test/sizeof.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/sizeoverflow.cpp b/gtsam/3rdparty/Eigen/test/sizeoverflow.cpp
index 78ededbea..16d6f8d04 100644
--- a/gtsam/3rdparty/Eigen/test/sizeoverflow.cpp
+++ b/gtsam/3rdparty/Eigen/test/sizeoverflow.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2011 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/smallvectors.cpp b/gtsam/3rdparty/Eigen/test/smallvectors.cpp
index 4c09d4ec6..781511397 100644
--- a/gtsam/3rdparty/Eigen/test/smallvectors.cpp
+++ b/gtsam/3rdparty/Eigen/test/smallvectors.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2006-2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #define EIGEN_NO_STATIC_ASSERT
 #include "main.h"
diff --git a/gtsam/3rdparty/Eigen/test/sparse.h b/gtsam/3rdparty/Eigen/test/sparse.h
index 860d9ad9c..4db0004aa 100644
--- a/gtsam/3rdparty/Eigen/test/sparse.h
+++ b/gtsam/3rdparty/Eigen/test/sparse.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_TESTSPARSE_H
 #define EIGEN_TESTSPARSE_H
diff --git a/gtsam/3rdparty/Eigen/test/sparse_basic.cpp b/gtsam/3rdparty/Eigen/test/sparse_basic.cpp
index 637c5db51..efe5a7c89 100644
--- a/gtsam/3rdparty/Eigen/test/sparse_basic.cpp
+++ b/gtsam/3rdparty/Eigen/test/sparse_basic.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2008-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2008 Daniel Gomez Ferro <dgomezferro@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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "sparse.h"
 
@@ -208,6 +193,12 @@ template<typename SparseMatrixType> void sparse_basic(const SparseMatrixType& re
     // sparse cwise* dense
     VERIFY_IS_APPROX(m3.cwiseProduct(refM4), refM3.cwiseProduct(refM4));
 //     VERIFY_IS_APPROX(m3.cwise()/refM4, refM3.cwise()/refM4);
+
+    // test aliasing
+    VERIFY_IS_APPROX((m1 = -m1), (refM1 = -refM1));
+    VERIFY_IS_APPROX((m1 = m1.transpose()), (refM1 = refM1.transpose().eval()));
+    VERIFY_IS_APPROX((m1 = -m1.transpose()), (refM1 = -refM1.transpose().eval()));
+    VERIFY_IS_APPROX((m1 += -m1), (refM1 += -refM1));
   }
 
   // test transpose
diff --git a/gtsam/3rdparty/Eigen/test/sparse_permutations.cpp b/gtsam/3rdparty/Eigen/test/sparse_permutations.cpp
index 4d22e358e..e4ce1d679 100644
--- a/gtsam/3rdparty/Eigen/test/sparse_permutations.cpp
+++ b/gtsam/3rdparty/Eigen/test/sparse_permutations.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2011 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "sparse.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/sparse_product.cpp b/gtsam/3rdparty/Eigen/test/sparse_product.cpp
index 2c28d1131..17a955c9d 100644
--- a/gtsam/3rdparty/Eigen/test/sparse_product.cpp
+++ b/gtsam/3rdparty/Eigen/test/sparse_product.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "sparse.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/sparse_solver.h b/gtsam/3rdparty/Eigen/test/sparse_solver.h
index 69bf716ed..75fa85082 100644
--- a/gtsam/3rdparty/Eigen/test/sparse_solver.h
+++ b/gtsam/3rdparty/Eigen/test/sparse_solver.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2011 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "sparse.h"
 #include <Eigen/SparseCore>
diff --git a/gtsam/3rdparty/Eigen/test/sparse_solvers.cpp b/gtsam/3rdparty/Eigen/test/sparse_solvers.cpp
index a3d79b0ea..3a8873d43 100644
--- a/gtsam/3rdparty/Eigen/test/sparse_solvers.cpp
+++ b/gtsam/3rdparty/Eigen/test/sparse_solvers.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "sparse.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/sparse_vector.cpp b/gtsam/3rdparty/Eigen/test/sparse_vector.cpp
index 09d36a51b..9d559f5bf 100644
--- a/gtsam/3rdparty/Eigen/test/sparse_vector.cpp
+++ b/gtsam/3rdparty/Eigen/test/sparse_vector.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "sparse.h"
 
@@ -93,6 +78,11 @@ template<typename Scalar> void sparse_vector(int rows, int cols)
 
   VERIFY_IS_APPROX(v1.squaredNorm(), refV1.squaredNorm());
 
+  // test aliasing
+  VERIFY_IS_APPROX((v1 = -v1), (refV1 = -refV1));
+  VERIFY_IS_APPROX((v1 = v1.transpose()), (refV1 = refV1.transpose().eval()));
+  VERIFY_IS_APPROX((v1 += -v1), (refV1 += -refV1));
+
 }
 
 void test_sparse_vector()
diff --git a/gtsam/3rdparty/Eigen/test/stable_norm.cpp b/gtsam/3rdparty/Eigen/test/stable_norm.cpp
index 206a274d6..a25dbf51c 100644
--- a/gtsam/3rdparty/Eigen/test/stable_norm.cpp
+++ b/gtsam/3rdparty/Eigen/test/stable_norm.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/stddeque.cpp b/gtsam/3rdparty/Eigen/test/stddeque.cpp
index 45084bdfc..bb4b476f3 100644
--- a/gtsam/3rdparty/Eigen/test/stddeque.cpp
+++ b/gtsam/3rdparty/Eigen/test/stddeque.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
 // Copyright (C) 2010 Hauke Heibel <hauke.heibel@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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/StdDeque>
diff --git a/gtsam/3rdparty/Eigen/test/stdlist.cpp b/gtsam/3rdparty/Eigen/test/stdlist.cpp
index efb68c1d4..17cce779a 100644
--- a/gtsam/3rdparty/Eigen/test/stdlist.cpp
+++ b/gtsam/3rdparty/Eigen/test/stdlist.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
 // Copyright (C) 2010 Hauke Heibel <hauke.heibel@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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/StdList>
diff --git a/gtsam/3rdparty/Eigen/test/stdvector.cpp b/gtsam/3rdparty/Eigen/test/stdvector.cpp
index 9abde0910..6e173c678 100644
--- a/gtsam/3rdparty/Eigen/test/stdvector.cpp
+++ b/gtsam/3rdparty/Eigen/test/stdvector.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/StdVector>
diff --git a/gtsam/3rdparty/Eigen/test/stdvector_overload.cpp b/gtsam/3rdparty/Eigen/test/stdvector_overload.cpp
index e1f242dab..736ff0ee7 100644
--- a/gtsam/3rdparty/Eigen/test/stdvector_overload.cpp
+++ b/gtsam/3rdparty/Eigen/test/stdvector_overload.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
 // Copyright (C) 2010 Hauke Heibel <hauke.heibel@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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/superlu_support.cpp b/gtsam/3rdparty/Eigen/test/superlu_support.cpp
index ad435943b..3b16135bc 100644
--- a/gtsam/3rdparty/Eigen/test/superlu_support.cpp
+++ b/gtsam/3rdparty/Eigen/test/superlu_support.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2011 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "sparse_solver.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/swap.cpp b/gtsam/3rdparty/Eigen/test/swap.cpp
index b18562f28..36b353148 100644
--- a/gtsam/3rdparty/Eigen/test/swap.cpp
+++ b/gtsam/3rdparty/Eigen/test/swap.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #define EIGEN_NO_STATIC_ASSERT
 #include "main.h"
diff --git a/gtsam/3rdparty/Eigen/test/triangular.cpp b/gtsam/3rdparty/Eigen/test/triangular.cpp
index 4db8f8482..0e8ee5487 100644
--- a/gtsam/3rdparty/Eigen/test/triangular.cpp
+++ b/gtsam/3rdparty/Eigen/test/triangular.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/umeyama.cpp b/gtsam/3rdparty/Eigen/test/umeyama.cpp
index af1acdf82..b6c9be3a5 100644
--- a/gtsam/3rdparty/Eigen/test/umeyama.cpp
+++ b/gtsam/3rdparty/Eigen/test/umeyama.cpp
@@ -1,26 +1,11 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
 // Copyright (C) 2009 Hauke Heibel <hauke.heibel@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 or1 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/umfpack_support.cpp b/gtsam/3rdparty/Eigen/test/umfpack_support.cpp
index 1922aa959..9eb84c14b 100644
--- a/gtsam/3rdparty/Eigen/test/umfpack_support.cpp
+++ b/gtsam/3rdparty/Eigen/test/umfpack_support.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2011 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "sparse_solver.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/unalignedassert.cpp b/gtsam/3rdparty/Eigen/test/unalignedassert.cpp
index 5782ab20e..601dbf214 100644
--- a/gtsam/3rdparty/Eigen/test/unalignedassert.cpp
+++ b/gtsam/3rdparty/Eigen/test/unalignedassert.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/unalignedcount.cpp b/gtsam/3rdparty/Eigen/test/unalignedcount.cpp
index 35c0ad050..5451159e6 100644
--- a/gtsam/3rdparty/Eigen/test/unalignedcount.cpp
+++ b/gtsam/3rdparty/Eigen/test/unalignedcount.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 static int nb_load;
 static int nb_loadu;
diff --git a/gtsam/3rdparty/Eigen/test/upperbidiagonalization.cpp b/gtsam/3rdparty/Eigen/test/upperbidiagonalization.cpp
index 86ec7132b..db6ce383e 100644
--- a/gtsam/3rdparty/Eigen/test/upperbidiagonalization.cpp
+++ b/gtsam/3rdparty/Eigen/test/upperbidiagonalization.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/SVD>
diff --git a/gtsam/3rdparty/Eigen/test/vectorization_logic.cpp b/gtsam/3rdparty/Eigen/test/vectorization_logic.cpp
index a69a3738a..aee68a87f 100644
--- a/gtsam/3rdparty/Eigen/test/vectorization_logic.cpp
+++ b/gtsam/3rdparty/Eigen/test/vectorization_logic.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #define EIGEN_DEBUG_ASSIGN
 #include "main.h"
diff --git a/gtsam/3rdparty/Eigen/test/vectorwiseop.cpp b/gtsam/3rdparty/Eigen/test/vectorwiseop.cpp
index d3518b7ec..b938e3957 100644
--- a/gtsam/3rdparty/Eigen/test/vectorwiseop.cpp
+++ b/gtsam/3rdparty/Eigen/test/vectorwiseop.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2011 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #define EIGEN_NO_STATIC_ASSERT
 
diff --git a/gtsam/3rdparty/Eigen/test/visitor.cpp b/gtsam/3rdparty/Eigen/test/visitor.cpp
index 2552c6c26..087306258 100644
--- a/gtsam/3rdparty/Eigen/test/visitor.cpp
+++ b/gtsam/3rdparty/Eigen/test/visitor.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/test/zerosized.cpp b/gtsam/3rdparty/Eigen/test/zerosized.cpp
index c5d2cc6ed..6905e584e 100644
--- a/gtsam/3rdparty/Eigen/test/zerosized.cpp
+++ b/gtsam/3rdparty/Eigen/test/zerosized.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2011 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/AdolcForward b/gtsam/3rdparty/Eigen/unsupported/Eigen/AdolcForward
index 477c75378..b96f9450e 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/AdolcForward
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/AdolcForward
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_ADLOC_FORWARD
 #define EIGEN_ADLOC_FORWARD
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/AlignedVector3 b/gtsam/3rdparty/Eigen/unsupported/Eigen/AlignedVector3
index 804142a00..8ad0eb477 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/AlignedVector3
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/AlignedVector3
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_ALIGNED_VECTOR3
 #define EIGEN_ALIGNED_VECTOR3
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/AutoDiff b/gtsam/3rdparty/Eigen/unsupported/Eigen/AutoDiff
index 97164525c..3c73b424e 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/AutoDiff
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/AutoDiff
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_AUTODIFF_MODULE
 #define EIGEN_AUTODIFF_MODULE
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/BVH b/gtsam/3rdparty/Eigen/unsupported/Eigen/BVH
index d50b2bdab..860a7dd89 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/BVH
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/BVH
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Ilya Baran <ibaran@mit.edu>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_BVH_MODULE_H
 #define EIGEN_BVH_MODULE_H
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/FFT b/gtsam/3rdparty/Eigen/unsupported/Eigen/FFT
index e2ec71307..d233c6d5f 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/FFT
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/FFT
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Mark Borgerding mark a borgerding net
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_FFT_H
 #define EIGEN_FFT_H
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/IterativeSolvers b/gtsam/3rdparty/Eigen/unsupported/Eigen/IterativeSolvers
index 4645153aa..6c6946d91 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/IterativeSolvers
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/IterativeSolvers
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_ITERATIVE_SOLVERS_MODULE_H
 #define EIGEN_ITERATIVE_SOLVERS_MODULE_H
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/MPRealSupport b/gtsam/3rdparty/Eigen/unsupported/Eigen/MPRealSupport
index b5fe5e404..3895623fe 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/MPRealSupport
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/MPRealSupport
@@ -5,24 +5,9 @@
 // Copyright (C) 2010 Konstantin Holoborodko <konstantin@holoborodko.com>
 // Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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
-// this library. If not, see <http://www.gnu.org/licenses/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 // 
 // Contributors:
 // Brian Gladman, Helmut Jarausch, Fokko Beekhof, Ulrich Mutze, Heinz van Saanen, Pere Constans
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/MatrixFunctions b/gtsam/3rdparty/Eigen/unsupported/Eigen/MatrixFunctions
index 13eda8fc8..56ab71cd3 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/MatrixFunctions
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/MatrixFunctions
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Jitse Niesen <jitse@maths.leeds.ac.uk>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_MATRIX_FUNCTIONS
 #define EIGEN_MATRIX_FUNCTIONS
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/NonLinearOptimization b/gtsam/3rdparty/Eigen/unsupported/Eigen/NonLinearOptimization
index 0a384d649..cf6ca58f8 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/NonLinearOptimization
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/NonLinearOptimization
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Thomas Capricelli <orzel@freehackers.org>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_NONLINEAROPTIMIZATION_MODULE
 #define EIGEN_NONLINEAROPTIMIZATION_MODULE
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/NumericalDiff b/gtsam/3rdparty/Eigen/unsupported/Eigen/NumericalDiff
index eebee076d..b3480312d 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/NumericalDiff
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/NumericalDiff
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Thomas Capricelli <orzel@freehackers.org>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_NUMERICALDIFF_MODULE
 #define EIGEN_NUMERICALDIFF_MODULE
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/OpenGLSupport b/gtsam/3rdparty/Eigen/unsupported/Eigen/OpenGLSupport
index e5938e21c..e66a425f8 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/OpenGLSupport
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/OpenGLSupport
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_OPENGL_MODULE
 #define EIGEN_OPENGL_MODULE
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/Splines b/gtsam/3rdparty/Eigen/unsupported/Eigen/Splines
index 33769b0e4..801cec1a1 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/Splines
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/Splines
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 20010-2011 Hauke Heibel <hauke.heibel@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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SPLINES_MODULE_H
 #define EIGEN_SPLINES_MODULE_H
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h
index e5442a5ef..1a61e3367 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_AUTODIFF_JACOBIAN_H
 #define EIGEN_AUTODIFF_JACOBIAN_H
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h
index 70d3222f5..b833df3c0 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_AUTODIFF_SCALAR_H
 #define EIGEN_AUTODIFF_SCALAR_H
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/AutoDiff/AutoDiffVector.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/AutoDiff/AutoDiffVector.h
index a8f041f6f..0540add0a 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/AutoDiff/AutoDiffVector.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/AutoDiff/AutoDiffVector.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_AUTODIFF_VECTOR_H
 #define EIGEN_AUTODIFF_VECTOR_H
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/BVH/BVAlgorithms.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/BVH/BVAlgorithms.h
index 6cba656ff..e5b51decb 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/BVH/BVAlgorithms.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/BVH/BVAlgorithms.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Ilya Baran <ibaran@mit.edu>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_BVALGORITHMS_H
 #define EIGEN_BVALGORITHMS_H
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/BVH/KdBVH.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/BVH/KdBVH.h
index 13a154d5c..1b8d75865 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/BVH/KdBVH.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/BVH/KdBVH.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Ilya Baran <ibaran@mit.edu>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef KDBVH_H_INCLUDED
 #define KDBVH_H_INCLUDED
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/FFT/ei_fftw_impl.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/FFT/ei_fftw_impl.h
index 5c36db70c..d49aa17f5 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/FFT/ei_fftw_impl.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/FFT/ei_fftw_impl.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Mark Borgerding mark a borgerding net
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 namespace Eigen { 
 
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/FFT/ei_kissfft_impl.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/FFT/ei_kissfft_impl.h
index c3cbb7f01..37f5af4c1 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/FFT/ei_kissfft_impl.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/FFT/ei_kissfft_impl.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Mark Borgerding mark a borgerding net
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 namespace Eigen { 
 
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/ConstrainedConjGrad.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/ConstrainedConjGrad.h
index f8a550553..b83bf7aef 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/ConstrainedConjGrad.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/ConstrainedConjGrad.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 /* NOTE The functions of this file have been adapted from the GMM++ library */
 
@@ -45,6 +30,8 @@
 //
 //========================================================================
 
+#include "../../../../Eigen/src/Core/util/NonMPL2.h"
+
 #ifndef EIGEN_CONSTRAINEDCG_H
 #define EIGEN_CONSTRAINEDCG_H
 
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/GMRES.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/GMRES.h
index c882d87a2..34e67db82 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/GMRES.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/GMRES.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2011 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2012 Kolja Brix <brix@igpm.rwth-aaachen.de>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_GMRES_H
 #define EIGEN_GMRES_H
@@ -69,74 +54,74 @@ namespace internal {
  */
 template<typename MatrixType, typename Rhs, typename Dest, typename Preconditioner>
 bool gmres(const MatrixType & mat, const Rhs & rhs, Dest & x, const Preconditioner & precond,
-    int &iters, const int &restart, typename Dest::RealScalar & tol_error) {
+		int &iters, const int &restart, typename Dest::RealScalar & tol_error) {
 
-  using std::sqrt;
-  using std::abs;
+	using std::sqrt;
+	using std::abs;
 
-  typedef typename Dest::RealScalar RealScalar;
-  typedef typename Dest::Scalar Scalar;
-  typedef Matrix < RealScalar, Dynamic, 1 > RealVectorType;
-  typedef Matrix < Scalar, Dynamic, 1 > VectorType;
-  typedef Matrix < Scalar, Dynamic, Dynamic > FMatrixType;
+	typedef typename Dest::RealScalar RealScalar;
+	typedef typename Dest::Scalar Scalar;
+	typedef Matrix < RealScalar, Dynamic, 1 > RealVectorType;
+	typedef Matrix < Scalar, Dynamic, 1 > VectorType;
+	typedef Matrix < Scalar, Dynamic, Dynamic > FMatrixType;
 
-  RealScalar tol = tol_error;
-  const int maxIters = iters;
-  iters = 0;
+	RealScalar tol = tol_error;
+	const int maxIters = iters;
+	iters = 0;
 
-  const int m = mat.rows();
+	const int m = mat.rows();
 
-  VectorType p0 = rhs - mat*x;
-  VectorType r0 = precond.solve(p0);
-//   RealScalar r0_sqnorm = r0.squaredNorm();
+	VectorType p0 = rhs - mat*x;
+	VectorType r0 = precond.solve(p0);
+// 	RealScalar r0_sqnorm = r0.squaredNorm();
 
-  VectorType w = VectorType::Zero(restart + 1);
+	VectorType w = VectorType::Zero(restart + 1);
 
-  FMatrixType H = FMatrixType::Zero(m, restart + 1);
-  VectorType tau = VectorType::Zero(restart + 1);
-  std::vector < JacobiRotation < Scalar > > G(restart);
+	FMatrixType H = FMatrixType::Zero(m, restart + 1);
+	VectorType tau = VectorType::Zero(restart + 1);
+	std::vector < JacobiRotation < Scalar > > G(restart);
 
-  // generate first Householder vector
-  VectorType e;
-  RealScalar beta;
-  r0.makeHouseholder(e, tau.coeffRef(0), beta);
-  w(0)=(Scalar) beta;
-  H.bottomLeftCorner(m - 1, 1) = e;
+	// generate first Householder vector
+	VectorType e;
+	RealScalar beta;
+	r0.makeHouseholder(e, tau.coeffRef(0), beta);
+	w(0)=(Scalar) beta;
+	H.bottomLeftCorner(m - 1, 1) = e;
 
-  for (int k = 1; k <= restart; ++k) {
+	for (int k = 1; k <= restart; ++k) {
 
-    ++iters;
+		++iters;
 
-    VectorType v = VectorType::Unit(m, k - 1), workspace(m);
+		VectorType v = VectorType::Unit(m, k - 1), workspace(m);
 
-    // apply Householder reflections H_{1} ... H_{k-1} to v
-    for (int i = k - 1; i >= 0; --i) {
-      v.tail(m - i).applyHouseholderOnTheLeft(H.col(i).tail(m - i - 1), tau.coeffRef(i), workspace.data());
-    }
+		// apply Householder reflections H_{1} ... H_{k-1} to v
+		for (int i = k - 1; i >= 0; --i) {
+			v.tail(m - i).applyHouseholderOnTheLeft(H.col(i).tail(m - i - 1), tau.coeffRef(i), workspace.data());
+		}
 
-    // apply matrix M to v:  v = mat * v;
-    VectorType t=mat*v;
-    v=precond.solve(t);
+		// apply matrix M to v:  v = mat * v;
+		VectorType t=mat*v;
+		v=precond.solve(t);
 
-    // apply Householder reflections H_{k-1} ... H_{1} to v
-    for (int i = 0; i < k; ++i) {
-      v.tail(m - i).applyHouseholderOnTheLeft(H.col(i).tail(m - i - 1), tau.coeffRef(i), workspace.data());
-    }
+		// apply Householder reflections H_{k-1} ... H_{1} to v
+		for (int i = 0; i < k; ++i) {
+			v.tail(m - i).applyHouseholderOnTheLeft(H.col(i).tail(m - i - 1), tau.coeffRef(i), workspace.data());
+		}
 
-    if (v.tail(m - k).norm() != 0.0) {
+		if (v.tail(m - k).norm() != 0.0) {
 
-      if (k <= restart) {
+			if (k <= restart) {
 
-        // generate new Householder vector
+				// generate new Householder vector
                                   VectorType e(m - k - 1);
-        RealScalar beta;
-        v.tail(m - k).makeHouseholder(e, tau.coeffRef(k), beta);
-        H.col(k).tail(m - k - 1) = e;
+				RealScalar beta;
+				v.tail(m - k).makeHouseholder(e, tau.coeffRef(k), beta);
+				H.col(k).tail(m - k - 1) = e;
 
-        // apply Householder reflection H_{k} to v
-        v.tail(m - k).applyHouseholderOnTheLeft(H.col(k).tail(m - k - 1), tau.coeffRef(k), workspace.data());
+				// apply Householder reflection H_{k} to v
+				v.tail(m - k).applyHouseholderOnTheLeft(H.col(k).tail(m - k - 1), tau.coeffRef(k), workspace.data());
 
-      }
+			}
                 }
 
                 if (k > 1) {
@@ -207,9 +192,9 @@ bool gmres(const MatrixType & mat, const Rhs & rhs, Dest & x, const Precondition
 
 
 
-  }
-  
-  return false;
+	}
+	
+	return false;
 
 }
 
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/IncompleteLU.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/IncompleteLU.h
index e02f1f0c8..67e780181 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/IncompleteLU.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/IncompleteLU.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2011 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_INCOMPLETE_LU_H
 #define EIGEN_INCOMPLETE_LU_H
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/IterationController.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/IterationController.h
index dfb97e239..aaf46d544 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/IterationController.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/IterationController.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 /* NOTE The class IterationController has been adapted from the iteration
  *      class of the GMM++ and ITL libraries.
@@ -72,6 +57,8 @@
 //
 //========================================================================
 
+#include "../../../../Eigen/src/Core/util/NonMPL2.h"
+
 #ifndef EIGEN_ITERATION_CONTROLLER_H
 #define EIGEN_ITERATION_CONTROLLER_H
 
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/Scaling.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/Scaling.h
index 4aad69d0e..fdef0aca3 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/Scaling.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/IterativeSolvers/Scaling.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2012 Desire NUENTSA WAKAM <desire.nuentsa_wakam@inria.fr
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SCALING_H
 #define EIGEN_SCALING_H
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/KroneckerProduct/KroneckerTensorProduct.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/KroneckerProduct/KroneckerTensorProduct.h
index 4627705ce..84fd72fc6 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/KroneckerProduct/KroneckerTensorProduct.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/KroneckerProduct/KroneckerTensorProduct.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2011 Kolja Brix <brix@igpm.rwth-aachen.de>
 // Copyright (C) 2011 Andreas Platen <andiplaten@gmx.de>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 
 #ifndef KRONECKER_TENSOR_PRODUCT_H
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h
index e328badda..642916764 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2009, 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
 // Copyright (C) 2011 Chen-Pang He <jdh8@ms63.hinet.net>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_MATRIX_EXPONENTIAL
 #define EIGEN_MATRIX_EXPONENTIAL
@@ -248,7 +233,7 @@ template <typename MatrixType>
 EIGEN_STRONG_INLINE void MatrixExponential<MatrixType>::pade9(const MatrixType &A)
 {
   const RealScalar b[] = {17643225600., 8821612800., 2075673600., 302702400., 30270240.,
-            2162160., 110880., 3960., 90., 1.};
+  		      2162160., 110880., 3960., 90., 1.};
   MatrixType A2 = A * A;
   MatrixType A4 = A2 * A2;
   MatrixType A6 = A4 * A2;
@@ -262,8 +247,8 @@ template <typename MatrixType>
 EIGEN_STRONG_INLINE void MatrixExponential<MatrixType>::pade13(const MatrixType &A)
 {
   const RealScalar b[] = {64764752532480000., 32382376266240000., 7771770303897600.,
-            1187353796428800., 129060195264000., 10559470521600., 670442572800.,
-            33522128640., 1323241920., 40840800., 960960., 16380., 182., 1.};
+  		      1187353796428800., 129060195264000., 10559470521600., 670442572800.,
+  		      33522128640., 1323241920., 40840800., 960960., 16380., 182., 1.};
   MatrixType A2 = A * A;
   MatrixType A4 = A2 * A2;
   m_tmp1.noalias() = A4 * A2;
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixFunction.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixFunction.h
index 7c493e24d..c57ca87ed 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixFunction.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixFunction.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009-2011 Jitse Niesen <jitse@maths.leeds.ac.uk>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_MATRIX_FUNCTION
 #define EIGEN_MATRIX_FUNCTION
@@ -47,7 +32,7 @@ namespace Eigen {
   * \sa class MatrixFunctionAtomic, class MatrixLogarithmAtomic
   */
 template <typename MatrixType, 
-    typename AtomicType,  
+	  typename AtomicType,  
           int IsComplex = NumTraits<typename internal::traits<MatrixType>::Scalar>::IsComplex>
 class MatrixFunction
 {  
@@ -267,13 +252,13 @@ void MatrixFunction<MatrixType,AtomicType,1>::partitionEigenvalues()
     // Look for other element to add to the set
     for (Index j=i+1; j<rows; ++j) {
       if (internal::abs(diag(j) - diag(i)) <= separation() && std::find(qi->begin(), qi->end(), diag(j)) == qi->end()) {
-  typename ListOfClusters::iterator qj = findCluster(diag(j));
-  if (qj == m_clusters.end()) {
-    qi->push_back(diag(j));
-  } else {
-    qi->insert(qi->end(), qj->begin(), qj->end());
-    m_clusters.erase(qj);
-  }
+	typename ListOfClusters::iterator qj = findCluster(diag(j));
+	if (qj == m_clusters.end()) {
+	  qi->push_back(diag(j));
+	} else {
+	  qi->insert(qi->end(), qj->begin(), qj->end());
+	  m_clusters.erase(qj);
+	}
       }
     }
   }
@@ -412,8 +397,8 @@ void MatrixFunction<MatrixType,AtomicType,1>::computeOffDiagonal()
       DynMatrixType C = block(m_fT, blockIndex, blockIndex) * block(m_T, blockIndex, blockIndex+diagIndex);
       C -= block(m_T, blockIndex, blockIndex+diagIndex) * block(m_fT, blockIndex+diagIndex, blockIndex+diagIndex);
       for (Index k = blockIndex + 1; k < blockIndex + diagIndex; k++) {
-  C += block(m_fT, blockIndex, k) * block(m_T, k, blockIndex+diagIndex);
-  C -= block(m_T, blockIndex, k) * block(m_fT, k, blockIndex+diagIndex);
+	C += block(m_fT, blockIndex, k) * block(m_T, k, blockIndex+diagIndex);
+	C -= block(m_T, blockIndex, k) * block(m_fT, k, blockIndex+diagIndex);
       }
       block(m_fT, blockIndex, blockIndex+diagIndex) = solveTriangularSylvester(A, B, C);
     }
@@ -466,19 +451,19 @@ typename MatrixFunction<MatrixType,AtomicType,1>::DynMatrixType MatrixFunction<M
       // Compute AX = \sum_{k=i+1}^m A_{ik} X_{kj}
       Scalar AX;
       if (i == m - 1) {
-  AX = 0; 
+	AX = 0; 
       } else {
-  Matrix<Scalar,1,1> AXmatrix = A.row(i).tail(m-1-i) * X.col(j).tail(m-1-i);
-  AX = AXmatrix(0,0);
+	Matrix<Scalar,1,1> AXmatrix = A.row(i).tail(m-1-i) * X.col(j).tail(m-1-i);
+	AX = AXmatrix(0,0);
       }
 
       // Compute XB = \sum_{k=1}^{j-1} X_{ik} B_{kj}
       Scalar XB;
       if (j == 0) {
-  XB = 0; 
+	XB = 0; 
       } else {
-  Matrix<Scalar,1,1> XBmatrix = X.row(i).head(j) * B.col(j).head(j);
-  XB = XBmatrix(0,0);
+	Matrix<Scalar,1,1> XBmatrix = X.row(i).head(j) * B.col(j).head(j);
+	XB = XBmatrix(0,0);
       }
 
       X(i,j) = (C(i,j) - AX - XB) / (A(i,i) + B(j,j));
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixFunctionAtomic.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixFunctionAtomic.h
index 078545b90..efe332c48 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixFunctionAtomic.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixFunctionAtomic.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Jitse Niesen <jitse@maths.leeds.ac.uk>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_MATRIX_FUNCTION_ATOMIC
 #define EIGEN_MATRIX_FUNCTION_ATOMIC
@@ -118,7 +103,7 @@ void MatrixFunctionAtomic<MatrixType>::computeMu()
 /** \brief Determine whether Taylor series has converged */
 template <typename MatrixType>
 bool MatrixFunctionAtomic<MatrixType>::taylorConverged(Index s, const MatrixType& F,
-                   const MatrixType& Fincr, const MatrixType& P)
+						       const MatrixType& Fincr, const MatrixType& P)
 {
   const Index n = F.rows();
   const RealScalar F_norm = F.cwiseAbs().rowwise().sum().maxCoeff();
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixLogarithm.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixLogarithm.h
index 361c3df0c..892d0c9a9 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixLogarithm.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixLogarithm.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2011 Jitse Niesen <jitse@maths.leeds.ac.uk>
 // Copyright (C) 2011 Chen-Pang He <jdh8@ms63.hinet.net>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_MATRIX_LOGARITHM
 #define EIGEN_MATRIX_LOGARITHM
@@ -168,7 +153,7 @@ void MatrixLogarithmAtomic<MatrixType>::computeBig(const MatrixType& A, MatrixTy
       degree = getPadeDegree(normTminusI);
       int degree2 = getPadeDegree(normTminusI / RealScalar(2));
       if ((degree - degree2 <= 1) || (numberOfExtraSquareRoots == 1)) 
-  break;
+	break;
       ++numberOfExtraSquareRoots;
     }
     MatrixType sqrtT;
@@ -210,24 +195,24 @@ template <typename MatrixType>
 int MatrixLogarithmAtomic<MatrixType>::getPadeDegree(long double normTminusI)
 {
 #if   LDBL_MANT_DIG == 53         // double precision
-  const double maxNormForPade[] = { 1.6206284795015624e-2 /* degree = 3 */ , 5.3873532631381171e-2,
-            1.1352802267628681e-1, 1.8662860613541288e-1, 2.642960831111435e-1 };
+  const long double maxNormForPade[] = { 1.6206284795015624e-2L /* degree = 3 */ , 5.3873532631381171e-2L,
+            1.1352802267628681e-1L, 1.8662860613541288e-1L, 2.642960831111435e-1L };
 #elif LDBL_MANT_DIG <= 64         // extended precision
-  const double maxNormForPade[] = { 5.48256690357782863103e-3 /* degree = 3 */, 2.34559162387971167321e-2,
-            5.84603923897347449857e-2, 1.08486423756725170223e-1, 1.68385767881294446649e-1,
-            2.32777776523703892094e-1 };
+  const long double maxNormForPade[] = { 5.48256690357782863103e-3L /* degree = 3 */, 2.34559162387971167321e-2L,
+            5.84603923897347449857e-2L, 1.08486423756725170223e-1L, 1.68385767881294446649e-1L,
+            2.32777776523703892094e-1L };
 #elif LDBL_MANT_DIG <= 106        // double-double
-  const double maxNormForPade[] = { 8.58970550342939562202529664318890e-5 /* degree = 3 */,
-            9.34074328446359654039446552677759e-4, 4.26117194647672175773064114582860e-3,
-            1.21546224740281848743149666560464e-2, 2.61100544998339436713088248557444e-2,
-            4.66170074627052749243018566390567e-2, 7.32585144444135027565872014932387e-2,
-            1.05026503471351080481093652651105e-1 };
+  const long double maxNormForPade[] = { 8.58970550342939562202529664318890e-5L /* degree = 3 */,
+            9.34074328446359654039446552677759e-4L, 4.26117194647672175773064114582860e-3L,
+            1.21546224740281848743149666560464e-2L, 2.61100544998339436713088248557444e-2L,
+            4.66170074627052749243018566390567e-2L, 7.32585144444135027565872014932387e-2L,
+            1.05026503471351080481093652651105e-1L };
 #else                             // quadruple precision
-  const double maxNormForPade[] = { 4.7419931187193005048501568167858103e-5 /* degree = 3 */,
-            5.8853168473544560470387769480192666e-4, 2.9216120366601315391789493628113520e-3,
-            8.8415758124319434347116734705174308e-3, 1.9850836029449446668518049562565291e-2,
-            3.6688019729653446926585242192447447e-2, 5.9290962294020186998954055264528393e-2,
-            8.6998436081634343903250580992127677e-2, 1.1880960220216759245467951592883642e-1 };
+  const long double maxNormForPade[] = { 4.7419931187193005048501568167858103e-5L /* degree = 3 */,
+            5.8853168473544560470387769480192666e-4L, 2.9216120366601315391789493628113520e-3L,
+            8.8415758124319434347116734705174308e-3L, 1.9850836029449446668518049562565291e-2L,
+            3.6688019729653446926585242192447447e-2L, 5.9290962294020186998954055264528393e-2L,
+            8.6998436081634343903250580992127677e-2L, 1.1880960220216759245467951592883642e-1L };
 #endif
   for (int degree = 3; degree <= maxPadeDegree; ++degree)
     if (normTminusI <= maxNormForPade[degree - minPadeDegree])
@@ -309,10 +294,10 @@ void MatrixLogarithmAtomic<MatrixType>::computePade6(MatrixType& result, const M
   const int degree = 6;
   const RealScalar nodes[]   = { 0.0337652428984239860938492227530027L, 0.1693953067668677431693002024900473L,
             0.3806904069584015456847491391596440L, 0.6193095930415984543152508608403560L,
-            0.8306046932331322568306997975099527L, 0.9662347571015760139061507772469973L };
+		        0.8306046932331322568306997975099527L, 0.9662347571015760139061507772469973L };
   const RealScalar weights[] = { 0.0856622461895851725201480710863665L, 0.1803807865240693037849167569188581L,
             0.2339569672863455236949351719947755L, 0.2339569672863455236949351719947755L,
-             0.1803807865240693037849167569188581L, 0.0856622461895851725201480710863665L };
+ 		        0.1803807865240693037849167569188581L, 0.0856622461895851725201480710863665L };
   assert(degree <= maxPadeDegree);
   MatrixType TminusI = T - MatrixType::Identity(T.rows(), T.rows());
   result.setZero(T.rows(), T.rows());
@@ -438,8 +423,8 @@ void MatrixLogarithmAtomic<MatrixType>::computePade11(MatrixType& result, const
   * This class holds the argument to the matrix function until it is
   * assigned or evaluated for some other reason (so the argument
   * should not be changed in the meantime). It is the return type of
-  * matrixBase::matrixLogarithm() and most of the time this is the
-  * only way it is used.
+  * matrixBase::log() and most of the time this is the only way it
+  * is used.
   */
 template<typename Derived> class MatrixLogarithmReturnValue
 : public ReturnByValue<MatrixLogarithmReturnValue<Derived> >
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixSquareRoot.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixSquareRoot.h
index 2f8f28363..10319fa17 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixSquareRoot.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/MatrixSquareRoot.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2011 Jitse Niesen <jitse@maths.leeds.ac.uk>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_MATRIX_SQUARE_ROOT
 #define EIGEN_MATRIX_SQUARE_ROOT
@@ -75,17 +60,17 @@ class MatrixSquareRootQuasiTriangular
     void computeOffDiagonalPartOfSqrt(MatrixType& sqrtT, const MatrixType& T);
     void compute2x2diagonalBlock(MatrixType& sqrtT, const MatrixType& T, typename MatrixType::Index i);
     void compute1x1offDiagonalBlock(MatrixType& sqrtT, const MatrixType& T, 
-            typename MatrixType::Index i, typename MatrixType::Index j);
+  				  typename MatrixType::Index i, typename MatrixType::Index j);
     void compute1x2offDiagonalBlock(MatrixType& sqrtT, const MatrixType& T, 
-            typename MatrixType::Index i, typename MatrixType::Index j);
+  				  typename MatrixType::Index i, typename MatrixType::Index j);
     void compute2x1offDiagonalBlock(MatrixType& sqrtT, const MatrixType& T, 
-            typename MatrixType::Index i, typename MatrixType::Index j);
+  				  typename MatrixType::Index i, typename MatrixType::Index j);
     void compute2x2offDiagonalBlock(MatrixType& sqrtT, const MatrixType& T, 
-            typename MatrixType::Index i, typename MatrixType::Index j);
+  				  typename MatrixType::Index i, typename MatrixType::Index j);
   
     template <typename SmallMatrixType>
     static void solveAuxiliaryEquation(SmallMatrixType& X, const SmallMatrixType& A, 
-               const SmallMatrixType& B, const SmallMatrixType& C);
+  				     const SmallMatrixType& B, const SmallMatrixType& C);
   
     const MatrixType& m_A;
 };
@@ -112,7 +97,7 @@ void MatrixSquareRootQuasiTriangular<MatrixType>::compute(ResultType &result)
 // post: the diagonal blocks of sqrtT are the square roots of the diagonal blocks of T
 template <typename MatrixType>
 void MatrixSquareRootQuasiTriangular<MatrixType>::computeDiagonalPartOfSqrt(MatrixType& sqrtT, 
-                    const MatrixType& T)
+									  const MatrixType& T)
 {
   const Index size = m_A.rows();
   for (Index i = 0; i < size; i++) {
@@ -131,25 +116,25 @@ void MatrixSquareRootQuasiTriangular<MatrixType>::computeDiagonalPartOfSqrt(Matr
 // post: sqrtT is the square root of T.
 template <typename MatrixType>
 void MatrixSquareRootQuasiTriangular<MatrixType>::computeOffDiagonalPartOfSqrt(MatrixType& sqrtT, 
-                       const MatrixType& T)
+									     const MatrixType& T)
 {
   const Index size = m_A.rows();
   for (Index j = 1; j < size; j++) {
       if (T.coeff(j, j-1) != 0)  // if T(j-1:j, j-1:j) is a 2-by-2 block
-  continue;
+	continue;
     for (Index i = j-1; i >= 0; i--) {
       if (i > 0 && T.coeff(i, i-1) != 0)  // if T(i-1:i, i-1:i) is a 2-by-2 block
-  continue;
+	continue;
       bool iBlockIs2x2 = (i < size - 1) && (T.coeff(i+1, i) != 0);
       bool jBlockIs2x2 = (j < size - 1) && (T.coeff(j+1, j) != 0);
       if (iBlockIs2x2 && jBlockIs2x2) 
-  compute2x2offDiagonalBlock(sqrtT, T, i, j);
+	compute2x2offDiagonalBlock(sqrtT, T, i, j);
       else if (iBlockIs2x2 && !jBlockIs2x2) 
-  compute2x1offDiagonalBlock(sqrtT, T, i, j);
+	compute2x1offDiagonalBlock(sqrtT, T, i, j);
       else if (!iBlockIs2x2 && jBlockIs2x2) 
-  compute1x2offDiagonalBlock(sqrtT, T, i, j);
+	compute1x2offDiagonalBlock(sqrtT, T, i, j);
       else if (!iBlockIs2x2 && !jBlockIs2x2) 
-  compute1x1offDiagonalBlock(sqrtT, T, i, j);
+	compute1x1offDiagonalBlock(sqrtT, T, i, j);
     }
   }
 }
@@ -174,7 +159,7 @@ void MatrixSquareRootQuasiTriangular<MatrixType>
 template <typename MatrixType>
 void MatrixSquareRootQuasiTriangular<MatrixType>
      ::compute1x1offDiagonalBlock(MatrixType& sqrtT, const MatrixType& T, 
-          typename MatrixType::Index i, typename MatrixType::Index j)
+				  typename MatrixType::Index i, typename MatrixType::Index j)
 {
   Scalar tmp = (sqrtT.row(i).segment(i+1,j-i-1) * sqrtT.col(j).segment(i+1,j-i-1)).value();
   sqrtT.coeffRef(i,j) = (T.coeff(i,j) - tmp) / (sqrtT.coeff(i,i) + sqrtT.coeff(j,j));
@@ -184,7 +169,7 @@ void MatrixSquareRootQuasiTriangular<MatrixType>
 template <typename MatrixType>
 void MatrixSquareRootQuasiTriangular<MatrixType>
      ::compute1x2offDiagonalBlock(MatrixType& sqrtT, const MatrixType& T, 
-          typename MatrixType::Index i, typename MatrixType::Index j)
+				  typename MatrixType::Index i, typename MatrixType::Index j)
 {
   Matrix<Scalar,1,2> rhs = T.template block<1,2>(i,j);
   if (j-i > 1)
@@ -198,7 +183,7 @@ void MatrixSquareRootQuasiTriangular<MatrixType>
 template <typename MatrixType>
 void MatrixSquareRootQuasiTriangular<MatrixType>
      ::compute2x1offDiagonalBlock(MatrixType& sqrtT, const MatrixType& T, 
-          typename MatrixType::Index i, typename MatrixType::Index j)
+				  typename MatrixType::Index i, typename MatrixType::Index j)
 {
   Matrix<Scalar,2,1> rhs = T.template block<2,1>(i,j);
   if (j-i > 2)
@@ -212,7 +197,7 @@ void MatrixSquareRootQuasiTriangular<MatrixType>
 template <typename MatrixType>
 void MatrixSquareRootQuasiTriangular<MatrixType>
      ::compute2x2offDiagonalBlock(MatrixType& sqrtT, const MatrixType& T, 
-          typename MatrixType::Index i, typename MatrixType::Index j)
+				  typename MatrixType::Index i, typename MatrixType::Index j)
 {
   Matrix<Scalar,2,2> A = sqrtT.template block<2,2>(i,i);
   Matrix<Scalar,2,2> B = sqrtT.template block<2,2>(j,j);
@@ -229,10 +214,10 @@ template <typename MatrixType>
 template <typename SmallMatrixType>
 void MatrixSquareRootQuasiTriangular<MatrixType>
      ::solveAuxiliaryEquation(SmallMatrixType& X, const SmallMatrixType& A,
-            const SmallMatrixType& B, const SmallMatrixType& C)
+			      const SmallMatrixType& B, const SmallMatrixType& C)
 {
   EIGEN_STATIC_ASSERT((internal::is_same<SmallMatrixType, Matrix<Scalar,2,2> >::value),
-          EIGEN_INTERNAL_ERROR_PLEASE_FILE_A_BUG_REPORT);
+		      EIGEN_INTERNAL_ERROR_PLEASE_FILE_A_BUG_REPORT);
 
   Matrix<Scalar,4,4> coeffMatrix = Matrix<Scalar,4,4>::Zero();
   coeffMatrix.coeffRef(0,0) = A.coeff(0,0) + B.coeff(0,0);
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/StemFunction.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/StemFunction.h
index 84f0df583..724e55c1d 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/StemFunction.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MatrixFunctions/StemFunction.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_STEM_FUNCTION
 #define EIGEN_STEM_FUNCTION
@@ -47,17 +32,17 @@ class StdStemFunctions
       Scalar res;
       switch (n % 4) {
       case 0: 
-  res = std::cos(x);
-  break;
+	res = std::cos(x);
+	break;
       case 1:
-  res = -std::sin(x);
-  break;
+	res = -std::sin(x);
+	break;
       case 2:
-  res = -std::cos(x);
-  break;
+	res = -std::cos(x);
+	break;
       case 3:
-  res = std::sin(x);
-  break;
+	res = std::sin(x);
+	break;
       }
       return res;
     }
@@ -68,17 +53,17 @@ class StdStemFunctions
       Scalar res;
       switch (n % 4) {
       case 0:
-  res = std::sin(x);
-  break;
+	res = std::sin(x);
+	break;
       case 1:
-  res = std::cos(x);
-  break;
+	res = std::cos(x);
+	break;
       case 2:
-  res = -std::sin(x);
-  break;
+	res = -std::sin(x);
+	break;
       case 3:
-  res = -std::cos(x);
-  break;
+	res = -std::cos(x);
+	break;
       }
       return res;
     }
@@ -89,26 +74,26 @@ class StdStemFunctions
       Scalar res;
       switch (n % 2) {
       case 0:
-  res = std::cosh(x);
-  break;
+	res = std::cosh(x);
+	break;
       case 1:
-  res = std::sinh(x);
-  break;
+	res = std::sinh(x);
+	break;
       }
       return res;
     }
-  
+	
     /** \brief Hyperbolic sine (and its derivatives). */
     static Scalar sinh(Scalar x, int n)
     {
       Scalar res;
       switch (n % 2) {
       case 0:
-  res = std::sinh(x);
-  break;
+	res = std::sinh(x);
+	break;
       case 1:
-  res = std::cosh(x);
-  break;
+	res = std::cosh(x);
+	break;
       }
       return res;
     }
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MoreVectorization/MathFunctions.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MoreVectorization/MathFunctions.h
index 123f4016e..63cb28dea 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MoreVectorization/MathFunctions.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/MoreVectorization/MathFunctions.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2009 Rohit Garg <rpg.314@gmail.com>
 // Copyright (C) 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
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_MOREVECTORIZATION_MATHFUNCTIONS_H
 #define EIGEN_MOREVECTORIZATION_MATHFUNCTIONS_H
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/HybridNonLinearSolver.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/HybridNonLinearSolver.h
index aa9430359..d9ce4eab6 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/HybridNonLinearSolver.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/HybridNonLinearSolver.h
@@ -6,24 +6,9 @@
 //
 // Copyright (C) 2009 Thomas Capricelli <orzel@freehackers.org>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_HYBRIDNONLINEARSOLVER_H
 #define EIGEN_HYBRIDNONLINEARSOLVER_H
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/LevenbergMarquardt.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/LevenbergMarquardt.h
index 1cb501a66..075faeeb0 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/LevenbergMarquardt.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/LevenbergMarquardt.h
@@ -6,24 +6,9 @@
 //
 // Copyright (C) 2009 Thomas Capricelli <orzel@freehackers.org>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_LEVENBERGMARQUARDT__H
 #define EIGEN_LEVENBERGMARQUARDT__H
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/chkder.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/chkder.h
index fd3e0bc4a..ad37c5029 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/chkder.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NonLinearOptimization/chkder.h
@@ -1,4 +1,3 @@
-
 #define chkder_log10e 0.43429448190325182765
 #define chkder_factor 100.
 
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NumericalDiff/NumericalDiff.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NumericalDiff/NumericalDiff.h
index 8651585f2..d848cb407 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NumericalDiff/NumericalDiff.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/NumericalDiff/NumericalDiff.h
@@ -6,24 +6,9 @@
 //
 // Copyright (C) 2009 Thomas Capricelli <orzel@freehackers.org>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_NUMERICAL_DIFF_H
 #define EIGEN_NUMERICAL_DIFF_H
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Polynomials/Companion.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Polynomials/Companion.h
index 8936b8fad..4badd9d58 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Polynomials/Companion.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Polynomials/Companion.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010 Manuel Yguel <manuel.yguel@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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_COMPANION_H
 #define EIGEN_COMPANION_H
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Polynomials/PolynomialSolver.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Polynomials/PolynomialSolver.h
index 71295a105..70b873dbc 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Polynomials/PolynomialSolver.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Polynomials/PolynomialSolver.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010 Manuel Yguel <manuel.yguel@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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_POLYNOMIAL_SOLVER_H
 #define EIGEN_POLYNOMIAL_SOLVER_H
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Polynomials/PolynomialUtils.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Polynomials/PolynomialUtils.h
index 1fb1ed139..c23204c65 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Polynomials/PolynomialUtils.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Polynomials/PolynomialUtils.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010 Manuel Yguel <manuel.yguel@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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_POLYNOMIAL_UTILS_H
 #define EIGEN_POLYNOMIAL_UTILS_H
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineInplaceLU.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineInplaceLU.h
index ef36ac9b6..a1f54ed35 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineInplaceLU.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineInplaceLU.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Guillaume Saupin <guillaume.saupin@cea.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SKYLINEINPLACELU_H
 #define EIGEN_SKYLINEINPLACELU_H
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineMatrix.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineMatrix.h
index 98a19ce53..a2a8933ca 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineMatrix.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineMatrix.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Guillaume Saupin <guillaume.saupin@cea.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SKYLINEMATRIX_H
 #define EIGEN_SKYLINEMATRIX_H
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineMatrixBase.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineMatrixBase.h
index 72131eb3f..b3a237230 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineMatrixBase.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineMatrixBase.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Guillaume Saupin <guillaume.saupin@cea.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SKYLINEMATRIXBASE_H
 #define EIGEN_SKYLINEMATRIXBASE_H
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineProduct.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineProduct.h
index fb653b446..1ddf455e2 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineProduct.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineProduct.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Guillaume Saupin <guillaume.saupin@cea.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SKYLINEPRODUCT_H
 #define EIGEN_SKYLINEPRODUCT_H
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineStorage.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineStorage.h
index 5721dee90..378a8deb4 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineStorage.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineStorage.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Guillaume Saupin <guillaume.saupin@cea.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SKYLINE_STORAGE_H
 #define EIGEN_SKYLINE_STORAGE_H
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineUtil.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineUtil.h
index 5c5bd8bda..75eb612f4 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineUtil.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Skyline/SkylineUtil.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Guillaume Saupin <guillaume.saupin@cea.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SKYLINEUTIL_H
 #define EIGEN_SKYLINEUTIL_H
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/BlockOfDynamicSparseMatrix.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/BlockOfDynamicSparseMatrix.h
index 0cc6e3a06..fd24a732d 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/BlockOfDynamicSparseMatrix.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/BlockOfDynamicSparseMatrix.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SPARSE_BLOCKFORDYNAMICMATRIX_H
 #define EIGEN_SPARSE_BLOCKFORDYNAMICMATRIX_H
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/DynamicSparseMatrix.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/DynamicSparseMatrix.h
index 151d46538..dec16df28 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/DynamicSparseMatrix.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/DynamicSparseMatrix.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_DYNAMIC_SPARSEMATRIX_H
 #define EIGEN_DYNAMIC_SPARSEMATRIX_H
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/MarketIO.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/MarketIO.h
index adaf33a8e..de958de9f 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/MarketIO.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/MarketIO.h
@@ -4,24 +4,9 @@
 // Copyright (C) 2011 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2012 Desire NUENTSA WAKAM <desire.nuentsa_wakam@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SPARSE_MARKET_IO_H
 #define EIGEN_SPARSE_MARKET_IO_H
@@ -253,9 +238,9 @@ bool saveMarket(const SparseMatrixType& mat, const std::string& filename, int sy
   for(int j=0; j<mat.outerSize(); ++j)
     for(typename SparseMatrixType::InnerIterator it(mat,j); it; ++it)
     {
-  ++ count;
-  internal::PutMatrixElt(it.value(), it.row()+1, it.col()+1, out);
-  // out << it.row()+1 << " " << it.col()+1 << " " << it.value() << "\n";
+	++ count;
+	internal::PutMatrixElt(it.value(), it.row()+1, it.col()+1, out);
+	// out << it.row()+1 << " " << it.col()+1 << " " << it.value() << "\n";
     }
   out.close();
   return true;
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/MatrixMarketIterator.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/MatrixMarketIterator.h
index 3c34effca..4716b68e7 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/MatrixMarketIterator.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/MatrixMarketIterator.h
@@ -4,24 +4,9 @@
 //
 // Copyright (C) 2012 Desire NUENTSA WAKAM <desire.nuentsa_wakam@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_BROWSE_MATRICES_H
 #define EIGEN_BROWSE_MATRICES_H
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/RandomSetter.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/RandomSetter.h
index 9328c60cf..dee1708e7 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/RandomSetter.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/RandomSetter.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_RANDOMSETTER_H
 #define EIGEN_RANDOMSETTER_H
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Splines/Spline.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Splines/Spline.h
index 4c06453f7..3680f013a 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Splines/Spline.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Splines/Spline.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 20010-2011 Hauke Heibel <hauke.heibel@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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SPLINE_H
 #define EIGEN_SPLINE_H
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Splines/SplineFitting.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Splines/SplineFitting.h
index 3e8abbbce..1b566332f 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Splines/SplineFitting.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Splines/SplineFitting.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 20010-2011 Hauke Heibel <hauke.heibel@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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SPLINE_FITTING_H
 #define EIGEN_SPLINE_FITTING_H
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Splines/SplineFwd.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Splines/SplineFwd.h
index 0119115a6..49db8d35d 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Splines/SplineFwd.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/Splines/SplineFwd.h
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 20010-2011 Hauke Heibel <hauke.heibel@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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_SPLINES_FWD_H
 #define EIGEN_SPLINES_FWD_H
diff --git a/gtsam/3rdparty/Eigen/unsupported/test/BVH.cpp b/gtsam/3rdparty/Eigen/unsupported/test/BVH.cpp
index 3f9d108de..ff5b3299d 100644
--- a/gtsam/3rdparty/Eigen/unsupported/test/BVH.cpp
+++ b/gtsam/3rdparty/Eigen/unsupported/test/BVH.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Ilya Baran <ibaran@mit.edu>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/StdVector>
diff --git a/gtsam/3rdparty/Eigen/unsupported/test/FFTW.cpp b/gtsam/3rdparty/Eigen/unsupported/test/FFTW.cpp
index c535fd219..a07bf274b 100644
--- a/gtsam/3rdparty/Eigen/unsupported/test/FFTW.cpp
+++ b/gtsam/3rdparty/Eigen/unsupported/test/FFTW.cpp
@@ -1,26 +1,11 @@
 // This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. Eigen itself is part of the KDE project.
+// for linear algebra.
 //
 // Copyright (C) 2009 Mark Borgerding mark a borgerding net
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <unsupported/Eigen/FFT>
diff --git a/gtsam/3rdparty/Eigen/unsupported/test/alignedvector3.cpp b/gtsam/3rdparty/Eigen/unsupported/test/alignedvector3.cpp
index 0b46ad561..fc2bc2135 100644
--- a/gtsam/3rdparty/Eigen/unsupported/test/alignedvector3.cpp
+++ b/gtsam/3rdparty/Eigen/unsupported/test/alignedvector3.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <unsupported/Eigen/AlignedVector3>
diff --git a/gtsam/3rdparty/Eigen/unsupported/test/autodiff.cpp b/gtsam/3rdparty/Eigen/unsupported/test/autodiff.cpp
index 7ce4b4dee..6eb417e8d 100644
--- a/gtsam/3rdparty/Eigen/unsupported/test/autodiff.cpp
+++ b/gtsam/3rdparty/Eigen/unsupported/test/autodiff.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <unsupported/Eigen/AutoDiff>
diff --git a/gtsam/3rdparty/Eigen/unsupported/test/forward_adolc.cpp b/gtsam/3rdparty/Eigen/unsupported/test/forward_adolc.cpp
index 07959a668..d4baafe62 100644
--- a/gtsam/3rdparty/Eigen/unsupported/test/forward_adolc.cpp
+++ b/gtsam/3rdparty/Eigen/unsupported/test/forward_adolc.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <Eigen/Dense>
diff --git a/gtsam/3rdparty/Eigen/unsupported/test/gmres.cpp b/gtsam/3rdparty/Eigen/unsupported/test/gmres.cpp
index 30ebe8979..647c16927 100644
--- a/gtsam/3rdparty/Eigen/unsupported/test/gmres.cpp
+++ b/gtsam/3rdparty/Eigen/unsupported/test/gmres.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2011 Gael Guennebaud <g.gael@free.fr>
 // Copyright (C) 2012 Kolja Brix <brix@igpm.rwth-aaachen.de>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "../../test/sparse_solver.h"
 #include <Eigen/IterativeSolvers>
diff --git a/gtsam/3rdparty/Eigen/unsupported/test/kronecker_product.cpp b/gtsam/3rdparty/Eigen/unsupported/test/kronecker_product.cpp
index 3c7a6629f..a60bd3022 100644
--- a/gtsam/3rdparty/Eigen/unsupported/test/kronecker_product.cpp
+++ b/gtsam/3rdparty/Eigen/unsupported/test/kronecker_product.cpp
@@ -4,24 +4,9 @@
 // Copyright (C) 2011 Kolja Brix <brix@igpm.rwth-aachen.de>
 // Copyright (C) 2011 Andreas Platen <andiplaten@gmx.de>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 
 #include "sparse.h"
diff --git a/gtsam/3rdparty/Eigen/unsupported/test/matrix_exponential.cpp b/gtsam/3rdparty/Eigen/unsupported/test/matrix_exponential.cpp
index 26403c4e6..695472f91 100644
--- a/gtsam/3rdparty/Eigen/unsupported/test/matrix_exponential.cpp
+++ b/gtsam/3rdparty/Eigen/unsupported/test/matrix_exponential.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2009 Jitse Niesen <jitse@maths.leeds.ac.uk>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <unsupported/Eigen/MatrixFunctions>
diff --git a/gtsam/3rdparty/Eigen/unsupported/test/matrix_function.cpp b/gtsam/3rdparty/Eigen/unsupported/test/matrix_function.cpp
index c2ca5d5f1..0439c5a7d 100644
--- a/gtsam/3rdparty/Eigen/unsupported/test/matrix_function.cpp
+++ b/gtsam/3rdparty/Eigen/unsupported/test/matrix_function.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <unsupported/Eigen/MatrixFunctions>
diff --git a/gtsam/3rdparty/Eigen/unsupported/test/matrix_square_root.cpp b/gtsam/3rdparty/Eigen/unsupported/test/matrix_square_root.cpp
index cbda44f23..508619a7a 100644
--- a/gtsam/3rdparty/Eigen/unsupported/test/matrix_square_root.cpp
+++ b/gtsam/3rdparty/Eigen/unsupported/test/matrix_square_root.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2011 Jitse Niesen <jitse@maths.leeds.ac.uk>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <unsupported/Eigen/MatrixFunctions>
@@ -39,7 +24,7 @@ struct generateTestMatrix<MatrixType,0>
     typename EigenSolver<MatrixType>::EigenvalueType eivals = es.eigenvalues();
     for (typename MatrixType::Index i = 0; i < size; ++i) {
       if (eivals(i).imag() == 0 && eivals(i).real() < 0)
-  eivals(i) = -eivals(i);
+	eivals(i) = -eivals(i);
     }
     result = (es.eigenvectors() * eivals.asDiagonal() * es.eigenvectors().inverse()).real();
   }
diff --git a/gtsam/3rdparty/Eigen/unsupported/test/mpreal/mpreal.cpp b/gtsam/3rdparty/Eigen/unsupported/test/mpreal/mpreal.cpp
index 44012de3b..5c23544ef 100644
--- a/gtsam/3rdparty/Eigen/unsupported/test/mpreal/mpreal.cpp
+++ b/gtsam/3rdparty/Eigen/unsupported/test/mpreal/mpreal.cpp
@@ -1,60 +1,60 @@
 /*
-  Multi-precision real number class. C++ interface fo MPFR library.
-  Project homepage: http://www.holoborodko.com/pavel/
-  Contact e-mail:   pavel@holoborodko.com
+	Multi-precision real number class. C++ interface fo MPFR library.
+	Project homepage: http://www.holoborodko.com/pavel/
+	Contact e-mail:   pavel@holoborodko.com
 
-  Copyright (c) 2008-2011 Pavel Holoborodko
+	Copyright (c) 2008-2011 Pavel Holoborodko
 
-  Core Developers: 
-  Pavel Holoborodko, Dmitriy Gubanov, Konstantin Holoborodko. 
+	Core Developers: 
+	Pavel Holoborodko, Dmitriy Gubanov, Konstantin Holoborodko. 
 
-  Contributors:
-  Brian Gladman, Helmut Jarausch, Fokko Beekhof, Ulrich Mutze, 
-  Heinz van Saanen, Pere Constans, Peter van Hoof, Gael Guennebaud, 
-  Tsai Chia Cheng, Alexei Zubanov.
+	Contributors:
+	Brian Gladman, Helmut Jarausch, Fokko Beekhof, Ulrich Mutze, 
+	Heinz van Saanen, Pere Constans, Peter van Hoof, Gael Guennebaud, 
+	Tsai Chia Cheng, Alexei Zubanov.
 
-  ****************************************************************************
-  This library 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 2.1 of the License, or (at your option) any later version.
+	****************************************************************************
+	This library 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 2.1 of the License, or (at your option) any later version.
 
-  This library 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 for more details.
+	This library 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 for more details.
 
-  You should have received a copy of the GNU Lesser General Public
-  License along with this library; if not, write to the Free Software
-  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+	You should have received a copy of the GNU Lesser General Public
+	License along with this library; if not, write to the Free Software
+	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 
-  ****************************************************************************
-  ****************************************************************************
-  Redistribution and use in source and binary forms, with or without
-  modification, are permitted provided that the following conditions
-  are met:
+	****************************************************************************
+	****************************************************************************
+	Redistribution and use in source and binary forms, with or without
+	modification, are permitted provided that the following conditions
+	are met:
 
-  1. Redistributions of source code must retain the above copyright
-  notice, this list of conditions and the following disclaimer.
+	1. Redistributions of source code must retain the above copyright
+	notice, this list of conditions and the following disclaimer.
 
-  2. Redistributions in binary form must reproduce the above copyright
-  notice, this list of conditions and the following disclaimer in the
-  documentation and/or other materials provided with the distribution.
+	2. Redistributions in binary form must reproduce the above copyright
+	notice, this list of conditions and the following disclaimer in the
+	documentation and/or other materials provided with the distribution.
 
-  3. The name of the author may be used to endorse or promote products
-  derived from this software without specific prior written permission.
+	3. The name of the author may be used to endorse or promote products
+	derived from this software without specific prior written permission.
 
-  THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND
-  ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-  ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
-  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
-  OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
-  HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
-  OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
-  SUCH DAMAGE.
+	THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND
+	ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+	IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+	ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
+	FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+	DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+	OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+	HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+	LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+	OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+	SUCH DAMAGE.
 */
 #include <cstring>
 #include "mpreal.h"
@@ -72,9 +72,9 @@ using std::istream;
 
 namespace mpfr{
 
-mp_rnd_t   mpreal::default_rnd  = MPFR_RNDN;  //(mpfr_get_default_rounding_mode)();  
-mp_prec_t  mpreal::default_prec = 64;      //(mpfr_get_default_prec)();  
-int       mpreal::default_base = 10;
+mp_rnd_t   mpreal::default_rnd  = MPFR_RNDN;	//(mpfr_get_default_rounding_mode)();	
+mp_prec_t  mpreal::default_prec = 64;			//(mpfr_get_default_prec)();	
+int		   mpreal::default_base = 10;
 int        mpreal::double_bits = -1;
 
 #if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC)
@@ -86,93 +86,93 @@ mpreal::mpreal()
 { 
 
 #if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC)
-  set_custom_malloc();
+	set_custom_malloc();
 #endif
 
-  mpfr_init2(mp,default_prec); 
-  mpfr_set_ui(mp,0,default_rnd);
+	mpfr_init2(mp,default_prec); 
+	mpfr_set_ui(mp,0,default_rnd);
 
-  MPREAL_MSVC_DEBUGVIEW_CODE;
+	MPREAL_MSVC_DEBUGVIEW_CODE;
 }
 
 mpreal::mpreal(const mpreal& u) 
 {
 
 #if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC)
-  set_custom_malloc();
+	set_custom_malloc();
 #endif
 
-  mpfr_init2(mp,mpfr_get_prec(u.mp));
-  mpfr_set(mp,u.mp,default_rnd);
+	mpfr_init2(mp,mpfr_get_prec(u.mp));
+	mpfr_set(mp,u.mp,default_rnd);
 
-  MPREAL_MSVC_DEBUGVIEW_CODE;
+	MPREAL_MSVC_DEBUGVIEW_CODE;
 }
 
 mpreal::mpreal(const mpfr_t u)
 {
 
 #if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC)
-  set_custom_malloc();
+	set_custom_malloc();
 #endif
 
-  mpfr_init2(mp,mpfr_get_prec(u));
-  mpfr_set(mp,u,default_rnd);
-  
-  MPREAL_MSVC_DEBUGVIEW_CODE;
+	mpfr_init2(mp,mpfr_get_prec(u));
+	mpfr_set(mp,u,default_rnd);
+	
+	MPREAL_MSVC_DEBUGVIEW_CODE;
 }
 
 mpreal::mpreal(const mpf_t u)
 {
 
 #if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC)
-  set_custom_malloc();
+	set_custom_malloc();
 #endif
 
-  mpfr_init2(mp,(mp_prec_t) mpf_get_prec(u)); // (gmp: mp_bitcnt_t) unsigned long -> long (mpfr: mp_prec_t)
-  mpfr_set_f(mp,u,default_rnd);
+	mpfr_init2(mp,(mp_prec_t) mpf_get_prec(u)); // (gmp: mp_bitcnt_t) unsigned long -> long (mpfr: mp_prec_t)
+	mpfr_set_f(mp,u,default_rnd);
 
-  MPREAL_MSVC_DEBUGVIEW_CODE;
+	MPREAL_MSVC_DEBUGVIEW_CODE;
 }
 
 mpreal::mpreal(const mpz_t u, mp_prec_t prec, mp_rnd_t mode)
 {
 
 #if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC)
-  set_custom_malloc();
+	set_custom_malloc();
 #endif
 
-  mpfr_init2(mp,prec);
-  mpfr_set_z(mp,u,mode);
-  
-  MPREAL_MSVC_DEBUGVIEW_CODE;
+	mpfr_init2(mp,prec);
+	mpfr_set_z(mp,u,mode);
+	
+	MPREAL_MSVC_DEBUGVIEW_CODE;
 }
 
 mpreal::mpreal(const mpq_t u, mp_prec_t prec, mp_rnd_t mode)
 {
 
 #if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC)
-  set_custom_malloc();
+	set_custom_malloc();
 #endif
 
-  mpfr_init2(mp,prec);
-  mpfr_set_q(mp,u,mode);
-  
-  MPREAL_MSVC_DEBUGVIEW_CODE;
+	mpfr_init2(mp,prec);
+	mpfr_set_q(mp,u,mode);
+	
+	MPREAL_MSVC_DEBUGVIEW_CODE;
 }
 
 mpreal::mpreal(const double u, mp_prec_t prec, mp_rnd_t mode)
 {
 
 #if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC)
-  set_custom_malloc();
+	set_custom_malloc();
 #endif
 
     if(double_bits == -1 || fits_in_bits(u, double_bits))
     {
-      mpfr_init2(mp,prec);
-      mpfr_set_d(mp,u,mode);
-    
-    MPREAL_MSVC_DEBUGVIEW_CODE;
+    	mpfr_init2(mp,prec);
+	    mpfr_set_d(mp,u,mode);
+		
+		MPREAL_MSVC_DEBUGVIEW_CODE;
     }
     else
         throw conversion_overflow();
@@ -182,65 +182,65 @@ mpreal::mpreal(const long double u, mp_prec_t prec, mp_rnd_t mode)
 { 
 
 #if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC)
-  set_custom_malloc();
+	set_custom_malloc();
 #endif
 
     mpfr_init2(mp,prec);
-  mpfr_set_ld(mp,u,mode);
-  
-  MPREAL_MSVC_DEBUGVIEW_CODE;
+	mpfr_set_ld(mp,u,mode);
+	
+	MPREAL_MSVC_DEBUGVIEW_CODE;
 }
 
 mpreal::mpreal(const unsigned long int u, mp_prec_t prec, mp_rnd_t mode)
 { 
 
 #if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC)
-  set_custom_malloc();
+	set_custom_malloc();
 #endif
 
-  mpfr_init2(mp,prec);
-  mpfr_set_ui(mp,u,mode);
-  
-  MPREAL_MSVC_DEBUGVIEW_CODE;
+	mpfr_init2(mp,prec);
+	mpfr_set_ui(mp,u,mode);
+	
+	MPREAL_MSVC_DEBUGVIEW_CODE;
 }
 
 mpreal::mpreal(const unsigned int u, mp_prec_t prec, mp_rnd_t mode)
 { 
 
 #if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC)
-  set_custom_malloc();
+	set_custom_malloc();
 #endif
 
-  mpfr_init2(mp,prec);
-  mpfr_set_ui(mp,u,mode);
+	mpfr_init2(mp,prec);
+	mpfr_set_ui(mp,u,mode);
 
-  MPREAL_MSVC_DEBUGVIEW_CODE;
+	MPREAL_MSVC_DEBUGVIEW_CODE;
 }
 
 mpreal::mpreal(const long int u, mp_prec_t prec, mp_rnd_t mode)
 { 
 
 #if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC)
-  set_custom_malloc();
+	set_custom_malloc();
 #endif
 
-  mpfr_init2(mp,prec);
-  mpfr_set_si(mp,u,mode);
+	mpfr_init2(mp,prec);
+	mpfr_set_si(mp,u,mode);
 
-  MPREAL_MSVC_DEBUGVIEW_CODE;
+	MPREAL_MSVC_DEBUGVIEW_CODE;
 }
 
 mpreal::mpreal(const int u, mp_prec_t prec, mp_rnd_t mode)
 { 
 
 #if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC)
-  set_custom_malloc();
+	set_custom_malloc();
 #endif
 
-  mpfr_init2(mp,prec);
-  mpfr_set_si(mp,u,mode);
+	mpfr_init2(mp,prec);
+	mpfr_set_si(mp,u,mode);
 
-  MPREAL_MSVC_DEBUGVIEW_CODE;
+	MPREAL_MSVC_DEBUGVIEW_CODE;
 }
 
 #if defined (MPREAL_HAVE_INT64_SUPPORT)
@@ -248,26 +248,26 @@ mpreal::mpreal(const uint64_t u, mp_prec_t prec, mp_rnd_t mode)
 {
 
 #if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC)
-  set_custom_malloc();
+	set_custom_malloc();
 #endif
 
-  mpfr_init2(mp,prec);
-  mpfr_set_uj(mp, u, mode); 
+	mpfr_init2(mp,prec);
+	mpfr_set_uj(mp, u, mode); 
 
-  MPREAL_MSVC_DEBUGVIEW_CODE;
+	MPREAL_MSVC_DEBUGVIEW_CODE;
 }
 
 mpreal::mpreal(const int64_t u, mp_prec_t prec, mp_rnd_t mode)
 {
 
 #if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC)
-  set_custom_malloc();
+	set_custom_malloc();
 #endif
 
-  mpfr_init2(mp,prec);
-  mpfr_set_sj(mp, u, mode); 
-  
-  MPREAL_MSVC_DEBUGVIEW_CODE;
+	mpfr_init2(mp,prec);
+	mpfr_set_sj(mp, u, mode); 
+	
+	MPREAL_MSVC_DEBUGVIEW_CODE;
 }
 #endif
 
@@ -275,157 +275,157 @@ mpreal::mpreal(const char* s, mp_prec_t prec, int base, mp_rnd_t mode)
 {
 
 #if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC)
-  set_custom_malloc();
+	set_custom_malloc();
 #endif
 
-  mpfr_init2(mp,prec);
-  mpfr_set_str(mp, s, base, mode); 
+	mpfr_init2(mp,prec);
+	mpfr_set_str(mp, s, base, mode); 
 
-  MPREAL_MSVC_DEBUGVIEW_CODE;
+	MPREAL_MSVC_DEBUGVIEW_CODE;
 }
 
 mpreal::mpreal(const std::string& s, mp_prec_t prec, int base, mp_rnd_t mode)
 {
 
 #if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC)
-  set_custom_malloc();
+	set_custom_malloc();
 #endif
 
-  mpfr_init2(mp,prec);
-  mpfr_set_str(mp, s.c_str(), base, mode); 
+	mpfr_init2(mp,prec);
+	mpfr_set_str(mp, s.c_str(), base, mode); 
 
-  MPREAL_MSVC_DEBUGVIEW_CODE;
+	MPREAL_MSVC_DEBUGVIEW_CODE;
 }
 
 mpreal::~mpreal() 
 { 
-  mpfr_clear(mp);
+	mpfr_clear(mp);
 }                           
 
 // Operators - Assignment
 mpreal& mpreal::operator=(const char* s)
 {
-  mpfr_t t;
+	mpfr_t t;
 
 #if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC)
-  set_custom_malloc();
+	set_custom_malloc();
 #endif
 
-  if(0==mpfr_init_set_str(t,s,default_base,default_rnd))
-  {
-    // We will rewrite mp anyway, so flash it and resize
-    mpfr_set_prec(mp,mpfr_get_prec(t)); 
-    mpfr_set(mp,t,mpreal::default_rnd);
-    mpfr_clear(t);
+	if(0==mpfr_init_set_str(t,s,default_base,default_rnd))
+	{
+		// We will rewrite mp anyway, so flash it and resize
+		mpfr_set_prec(mp,mpfr_get_prec(t)); 
+		mpfr_set(mp,t,mpreal::default_rnd);
+		mpfr_clear(t);
 
-    MPREAL_MSVC_DEBUGVIEW_CODE;
+		MPREAL_MSVC_DEBUGVIEW_CODE;
 
-  }else{
-    mpfr_clear(t);
-  }
+	}else{
+		mpfr_clear(t);
+	}
 
-  return *this;
+	return *this;
 }
 
 const mpreal fma (const mpreal& v1, const mpreal& v2, const mpreal& v3, mp_rnd_t rnd_mode)
 {
-  mpreal a;
-  mp_prec_t p1, p2, p3;
+	mpreal a;
+	mp_prec_t p1, p2, p3;
 
-  p1 = v1.get_prec(); 
-  p2 = v2.get_prec(); 
-  p3 = v3.get_prec(); 
+	p1 = v1.get_prec(); 
+	p2 = v2.get_prec(); 
+	p3 = v3.get_prec(); 
 
-  a.set_prec(p3>p2?(p3>p1?p3:p1):(p2>p1?p2:p1));
+	a.set_prec(p3>p2?(p3>p1?p3:p1):(p2>p1?p2:p1));
 
-  mpfr_fma(a.mp,v1.mp,v2.mp,v3.mp,rnd_mode);
-  return a;
+	mpfr_fma(a.mp,v1.mp,v2.mp,v3.mp,rnd_mode);
+	return a;
 }
 
 const mpreal fms (const mpreal& v1, const mpreal& v2, const mpreal& v3, mp_rnd_t rnd_mode)
 {
-  mpreal a;
-  mp_prec_t p1, p2, p3;
+	mpreal a;
+	mp_prec_t p1, p2, p3;
 
-  p1 = v1.get_prec(); 
-  p2 = v2.get_prec(); 
-  p3 = v3.get_prec(); 
+	p1 = v1.get_prec(); 
+	p2 = v2.get_prec(); 
+	p3 = v3.get_prec(); 
 
-  a.set_prec(p3>p2?(p3>p1?p3:p1):(p2>p1?p2:p1));
+	a.set_prec(p3>p2?(p3>p1?p3:p1):(p2>p1?p2:p1));
 
-  mpfr_fms(a.mp,v1.mp,v2.mp,v3.mp,rnd_mode);
-  return a;
+	mpfr_fms(a.mp,v1.mp,v2.mp,v3.mp,rnd_mode);
+	return a;
 }
 
 const mpreal agm (const mpreal& v1, const mpreal& v2, mp_rnd_t rnd_mode)
 {
-  mpreal a;
-  mp_prec_t p1, p2;
+	mpreal a;
+	mp_prec_t p1, p2;
 
-  p1 = v1.get_prec(); 
-  p2 = v2.get_prec(); 
+	p1 = v1.get_prec(); 
+	p2 = v2.get_prec(); 
 
-  a.set_prec(p1>p2?p1:p2);
+	a.set_prec(p1>p2?p1:p2);
 
-  mpfr_agm(a.mp, v1.mp, v2.mp, rnd_mode);
+	mpfr_agm(a.mp, v1.mp, v2.mp, rnd_mode);
 
-  return a;
+	return a;
 }
 
 const mpreal sum (const mpreal tab[], unsigned long int n, mp_rnd_t rnd_mode)
 {
-  mpreal x;
-  mpfr_ptr* t;
-  unsigned long int i;
+	mpreal x;
+	mpfr_ptr* t;
+	unsigned long int i;
 
-  t = new mpfr_ptr[n];
-  for (i=0;i<n;i++) t[i] = (mpfr_ptr)tab[i].mp;
-  mpfr_sum(x.mp,t,n,rnd_mode);
-  delete[] t;
-  return x;
+	t = new mpfr_ptr[n];
+	for (i=0;i<n;i++) t[i] = (mpfr_ptr)tab[i].mp;
+	mpfr_sum(x.mp,t,n,rnd_mode);
+	delete[] t;
+	return x;
 }
 
 const mpreal remquo (long* q, const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode)
 {
-  mpreal a;
-  mp_prec_t yp, xp;
+	mpreal a;
+	mp_prec_t yp, xp;
 
-  yp = y.get_prec(); 
-  xp = x.get_prec(); 
+	yp = y.get_prec(); 
+	xp = x.get_prec(); 
 
-  a.set_prec(yp>xp?yp:xp);
+	a.set_prec(yp>xp?yp:xp);
 
-  mpfr_remquo(a.mp,q, x.mp, y.mp, rnd_mode);
+	mpfr_remquo(a.mp,q, x.mp, y.mp, rnd_mode);
 
-  return a;
+	return a;
 }
 
 template <class T>
 std::string toString(T t, std::ios_base & (*f)(std::ios_base&))
 {
-  std::ostringstream oss;
-  oss << f << t;
-  return oss.str();
+	std::ostringstream oss;
+	oss << f << t;
+	return oss.str();
 }
 
 #if (MPFR_VERSION >= MPFR_VERSION_NUM(2,4,0))
 
 std::string mpreal::toString(const std::string& format) const
 {
-  char *s = NULL;
-  string out;
+	char *s = NULL;
+	string out;
 
-  if( !format.empty() )
-  {
-    if(!(mpfr_asprintf(&s,format.c_str(),mp) < 0))
-    {
-      out = std::string(s);
+	if( !format.empty() )
+	{
+		if(!(mpfr_asprintf(&s,format.c_str(),mp) < 0))
+		{
+			out = std::string(s);
 
-      mpfr_free_str(s);
-    }
-  }
+			mpfr_free_str(s);
+		}
+	}
 
-  return out;
+	return out;
 }
 
 #endif
@@ -436,116 +436,116 @@ std::string mpreal::toString(int n, int b, mp_rnd_t mode) const
   (void)mode;
 #if (MPFR_VERSION >= MPFR_VERSION_NUM(2,4,0))
 
-  // Use MPFR native function for output
-  char format[128];
-  int digits;
+	// Use MPFR native function for output
+	char format[128];
+	int digits;
 
-  digits = n > 0 ? n : bits2digits(mpfr_get_prec(mp));
+	digits = n > 0 ? n : bits2digits(mpfr_get_prec(mp));
 
-  sprintf(format,"%%.%dRNg",digits);    // Default format
+	sprintf(format,"%%.%dRNg",digits);		// Default format
 
-  return toString(std::string(format));
+	return toString(std::string(format));
 
 #else
 
-  char *s, *ns = NULL; 
-  size_t slen, nslen;
-  mp_exp_t exp;
-  string out;
+	char *s, *ns = NULL; 
+	size_t slen, nslen;
+	mp_exp_t exp;
+	string out;
 
 #if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC)
-  set_custom_malloc();
+	set_custom_malloc();
 #endif
 
-  if(mpfr_inf_p(mp))
-  { 
-    if(mpfr_sgn(mp)>0) return "+Inf";
-    else         return "-Inf";
-  }
+	if(mpfr_inf_p(mp))
+	{ 
+		if(mpfr_sgn(mp)>0) return "+Inf";
+		else			   return "-Inf";
+	}
 
-  if(mpfr_zero_p(mp)) return "0";
-  if(mpfr_nan_p(mp))  return "NaN";
+	if(mpfr_zero_p(mp)) return "0";
+	if(mpfr_nan_p(mp))  return "NaN";
 
-  s  = mpfr_get_str(NULL,&exp,b,0,mp,mode);
-  ns = mpfr_get_str(NULL,&exp,b,n,mp,mode);
+	s  = mpfr_get_str(NULL,&exp,b,0,mp,mode);
+	ns = mpfr_get_str(NULL,&exp,b,n,mp,mode);
 
-  if(s!=NULL && ns!=NULL)
-  {
-    slen  = strlen(s);
-    nslen = strlen(ns);
-    if(nslen<=slen) 
-    {
-      mpfr_free_str(s);
-      s = ns;
-      slen = nslen;
-    }
-    else {
-      mpfr_free_str(ns);
-    }
+	if(s!=NULL && ns!=NULL)
+	{
+		slen  = strlen(s);
+		nslen = strlen(ns);
+		if(nslen<=slen) 
+		{
+			mpfr_free_str(s);
+			s = ns;
+			slen = nslen;
+		}
+		else {
+			mpfr_free_str(ns);
+		}
 
-    // Make human eye-friendly formatting if possible
-    if (exp>0 && static_cast<size_t>(exp)<slen)
-    {
-      if(s[0]=='-')
-      {
-        // Remove zeros starting from right end
-        char* ptr = s+slen-1;
-        while (*ptr=='0' && ptr>s+exp) ptr--; 
+		// Make human eye-friendly formatting if possible
+		if (exp>0 && static_cast<size_t>(exp)<slen)
+		{
+			if(s[0]=='-')
+			{
+				// Remove zeros starting from right end
+				char* ptr = s+slen-1;
+				while (*ptr=='0' && ptr>s+exp) ptr--; 
 
-        if(ptr==s+exp) out = string(s,exp+1);
-        else       out = string(s,exp+1)+'.'+string(s+exp+1,ptr-(s+exp+1)+1);
+				if(ptr==s+exp) out = string(s,exp+1);
+				else		   out = string(s,exp+1)+'.'+string(s+exp+1,ptr-(s+exp+1)+1);
 
-        //out = string(s,exp+1)+'.'+string(s+exp+1);
-      }
-      else
-      {
-        // Remove zeros starting from right end
-        char* ptr = s+slen-1;
-        while (*ptr=='0' && ptr>s+exp-1) ptr--; 
+				//out = string(s,exp+1)+'.'+string(s+exp+1);
+			}
+			else
+			{
+				// Remove zeros starting from right end
+				char* ptr = s+slen-1;
+				while (*ptr=='0' && ptr>s+exp-1) ptr--; 
 
-        if(ptr==s+exp-1) out = string(s,exp);
-        else         out = string(s,exp)+'.'+string(s+exp,ptr-(s+exp)+1);
+				if(ptr==s+exp-1) out = string(s,exp);
+				else		     out = string(s,exp)+'.'+string(s+exp,ptr-(s+exp)+1);
 
-        //out = string(s,exp)+'.'+string(s+exp);
-      }
+				//out = string(s,exp)+'.'+string(s+exp);
+			}
 
-    }else{ // exp<0 || exp>slen
-      if(s[0]=='-')
-      {
-        // Remove zeros starting from right end
-        char* ptr = s+slen-1;
-        while (*ptr=='0' && ptr>s+1) ptr--; 
+		}else{ // exp<0 || exp>slen
+			if(s[0]=='-')
+			{
+				// Remove zeros starting from right end
+				char* ptr = s+slen-1;
+				while (*ptr=='0' && ptr>s+1) ptr--; 
 
-        if(ptr==s+1) out = string(s,2);
-        else     out = string(s,2)+'.'+string(s+2,ptr-(s+2)+1);
+				if(ptr==s+1) out = string(s,2);
+				else		 out = string(s,2)+'.'+string(s+2,ptr-(s+2)+1);
 
-        //out = string(s,2)+'.'+string(s+2);
-      }
-      else
-      {
-        // Remove zeros starting from right end
-        char* ptr = s+slen-1;
-        while (*ptr=='0' && ptr>s) ptr--; 
+				//out = string(s,2)+'.'+string(s+2);
+			}
+			else
+			{
+				// Remove zeros starting from right end
+				char* ptr = s+slen-1;
+				while (*ptr=='0' && ptr>s) ptr--; 
 
-        if(ptr==s) out = string(s,1);
-        else     out = string(s,1)+'.'+string(s+1,ptr-(s+1)+1);
+				if(ptr==s) out = string(s,1);
+				else	   out = string(s,1)+'.'+string(s+1,ptr-(s+1)+1);
 
-        //out = string(s,1)+'.'+string(s+1);
-      }
+				//out = string(s,1)+'.'+string(s+1);
+			}
 
-      // Make final string
-      if(--exp)
-      {
-        if(exp>0) out += "e+"+mpfr::toString<mp_exp_t>(exp,std::dec);
-        else     out += "e"+mpfr::toString<mp_exp_t>(exp,std::dec);
-      }
-    }
+			// Make final string
+			if(--exp)
+			{
+				if(exp>0) out += "e+"+mpfr::toString<mp_exp_t>(exp,std::dec);
+				else 	  out += "e"+mpfr::toString<mp_exp_t>(exp,std::dec);
+			}
+		}
 
-    mpfr_free_str(s);
-    return out;
-  }else{
-    return "conversion error!";
-  }
+		mpfr_free_str(s);
+		return out;
+	}else{
+		return "conversion error!";
+	}
 #endif
 }
 
@@ -554,43 +554,43 @@ std::string mpreal::toString(int n, int b, mp_rnd_t mode) const
 // I/O
 ostream& operator<<(ostream& os, const mpreal& v)
 {
-  return os<<v.toString(static_cast<int>(os.precision()));
+	return os<<v.toString(static_cast<int>(os.precision()));
 }
 
 istream& operator>>(istream &is, mpreal& v)
 {
-  string tmp;
-  is >> tmp;
-  mpfr_set_str(v.mp, tmp.c_str(),mpreal::default_base,mpreal::default_rnd);
-  return is;
+	string tmp;
+	is >> tmp;
+	mpfr_set_str(v.mp, tmp.c_str(),mpreal::default_base,mpreal::default_rnd);
+	return is;
 }
 
 
 #if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC)
-  // Optimized dynamic memory allocation/(re-)deallocation.
-  void * mpreal::mpreal_allocate(size_t alloc_size)
-  {
-    return(dlmalloc(alloc_size));
-  }
+	// Optimized dynamic memory allocation/(re-)deallocation.
+	void * mpreal::mpreal_allocate(size_t alloc_size)
+	{
+		return(dlmalloc(alloc_size));
+	}
 
-  void * mpreal::mpreal_reallocate(void *ptr, size_t old_size, size_t new_size)
-  {
-    return(dlrealloc(ptr,new_size));
-  }
+	void * mpreal::mpreal_reallocate(void *ptr, size_t old_size, size_t new_size)
+	{
+		return(dlrealloc(ptr,new_size));
+	}
 
-  void mpreal::mpreal_free(void *ptr, size_t size)
-  {
-    dlfree(ptr);
-  }
+	void mpreal::mpreal_free(void *ptr, size_t size)
+	{
+		dlfree(ptr);
+	}
 
-  inline void mpreal::set_custom_malloc(void)
-  {
-    if(!is_custom_malloc)
-    {
-      mp_set_memory_functions(mpreal_allocate,mpreal_reallocate,mpreal_free);
-      is_custom_malloc = true;
-    }
-  }
+	inline void mpreal::set_custom_malloc(void)
+	{
+		if(!is_custom_malloc)
+		{
+			mp_set_memory_functions(mpreal_allocate,mpreal_reallocate,mpreal_free);
+			is_custom_malloc = true;
+		}
+	}
 #endif
 
 }
diff --git a/gtsam/3rdparty/Eigen/unsupported/test/mpreal/mpreal.h b/gtsam/3rdparty/Eigen/unsupported/test/mpreal/mpreal.h
index 9245beab0..c640af947 100644
--- a/gtsam/3rdparty/Eigen/unsupported/test/mpreal/mpreal.h
+++ b/gtsam/3rdparty/Eigen/unsupported/test/mpreal/mpreal.h
@@ -1,59 +1,59 @@
 /*
-  Multi-precision real number class. C++ interface for MPFR library.
-  Project homepage: http://www.holoborodko.com/pavel/
-  Contact e-mail:   pavel@holoborodko.com
+	Multi-precision real number class. C++ interface for MPFR library.
+	Project homepage: http://www.holoborodko.com/pavel/
+	Contact e-mail:   pavel@holoborodko.com
 
-  Copyright (c) 2008-2012 Pavel Holoborodko
+	Copyright (c) 2008-2012 Pavel Holoborodko
 
-  Core Developers: 
-  Pavel Holoborodko, Dmitriy Gubanov, Konstantin Holoborodko. 
+	Core Developers: 
+	Pavel Holoborodko, Dmitriy Gubanov, Konstantin Holoborodko. 
 
-  Contributors:
-  Brian Gladman, Helmut Jarausch, Fokko Beekhof, Ulrich Mutze, 
-  Heinz van Saanen, Pere Constans, Peter van Hoof, Gael Guennebaud, 
-  Tsai Chia Cheng, Alexei Zubanov.
+	Contributors:
+	Brian Gladman, Helmut Jarausch, Fokko Beekhof, Ulrich Mutze, 
+	Heinz van Saanen, Pere Constans, Peter van Hoof, Gael Guennebaud, 
+	Tsai Chia Cheng, Alexei Zubanov.
 
-  ****************************************************************************
-  This library 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 2.1 of the License, or (at your option) any later version.
+	****************************************************************************
+	This library 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 2.1 of the License, or (at your option) any later version.
 
-  This library 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 for more details.
+	This library 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 for more details.
 
-  You should have received a copy of the GNU Lesser General Public
-  License along with this library; if not, write to the Free Software
-  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+	You should have received a copy of the GNU Lesser General Public
+	License along with this library; if not, write to the Free Software
+	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 
-  ****************************************************************************
-  Redistribution and use in source and binary forms, with or without
-  modification, are permitted provided that the following conditions
-  are met:
-  
-  1. Redistributions of source code must retain the above copyright
-  notice, this list of conditions and the following disclaimer.
-  
-  2. Redistributions in binary form must reproduce the above copyright
-  notice, this list of conditions and the following disclaimer in the
-  documentation and/or other materials provided with the distribution.
-  
-  3. The name of the author may be used to endorse or promote products
-  derived from this software without specific prior written permission.
+	****************************************************************************
+	Redistribution and use in source and binary forms, with or without
+	modification, are permitted provided that the following conditions
+	are met:
+	
+	1. Redistributions of source code must retain the above copyright
+	notice, this list of conditions and the following disclaimer.
+	
+	2. Redistributions in binary form must reproduce the above copyright
+	notice, this list of conditions and the following disclaimer in the
+	documentation and/or other materials provided with the distribution.
+	
+	3. The name of the author may be used to endorse or promote products
+	derived from this software without specific prior written permission.
 
-  THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND
-  ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-  ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
-  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
-  OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
-  HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
-  OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
-  SUCH DAMAGE.
+	THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND
+	ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+	IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+	ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
+	FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+	DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+	OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+	HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+	LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+	OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+	SUCH DAMAGE.
 */
 
 #ifndef __MPREAL_H__
@@ -67,544 +67,544 @@
 #include <cmath>
 
 // Options
-#define MPREAL_HAVE_INT64_SUPPORT              // int64_t support: available only for MSVC 2010 & GCC 
-#define MPREAL_HAVE_MSVC_DEBUGVIEW              // Enable Debugger Visualizer (valid only for MSVC in "Debug" builds)
+#define MPREAL_HAVE_INT64_SUPPORT							// int64_t support: available only for MSVC 2010 & GCC 
+#define MPREAL_HAVE_MSVC_DEBUGVIEW							// Enable Debugger Visualizer (valid only for MSVC in "Debug" builds)
 
 // Detect compiler using signatures from http://predef.sourceforge.net/
 #if defined(__GNUC__) && defined(__INTEL_COMPILER)
-  #define IsInf(x) isinf(x)                // Intel ICC compiler on Linux 
+	#define IsInf(x) isinf(x)								// Intel ICC compiler on Linux 
 
-#elif defined(_MSC_VER)                    // Microsoft Visual C++ 
-  #define IsInf(x) (!_finite(x))              
+#elif defined(_MSC_VER)										// Microsoft Visual C++ 
+	#define IsInf(x) (!_finite(x))							
 
 #elif defined(__GNUC__)
-  #define IsInf(x) std::isinf(x)              // GNU C/C++ 
+	#define IsInf(x) std::isinf(x)							// GNU C/C++ 
 
 #else
-  #define IsInf(x) std::isinf(x)              // Unknown compiler, just hope for C99 conformance
+	#define IsInf(x) std::isinf(x)							// Unknown compiler, just hope for C99 conformance
 #endif
 
 #if defined(MPREAL_HAVE_INT64_SUPPORT)
-  
-  #define MPFR_USE_INTMAX_T                // should be defined before mpfr.h
+	
+	#define MPFR_USE_INTMAX_T								// should be defined before mpfr.h
 
-  #if defined(_MSC_VER)                   // <stdint.h> is available only in msvc2010!
-    #if (_MSC_VER >= 1600)                
-      #include <stdint.h>                
-    #else                        // MPFR relies on intmax_t which is available only in msvc2010
-      #undef MPREAL_HAVE_INT64_SUPPORT        // Besides, MPFR - MPIR have to be compiled with msvc2010
-      #undef MPFR_USE_INTMAX_T            // Since we cannot detect this, disable x64 by default
-                              // Someone should change this manually if needed.
-    #endif
-  #endif
-  
-  #if defined (__MINGW32__) || defined(__MINGW64__)
-      #include <stdint.h>                // equivalent to msvc2010
-  #elif defined (__GNUC__)
-    #if defined(__amd64__) || defined(__amd64) || defined(__x86_64__) || defined(__x86_64)
-      #undef MPREAL_HAVE_INT64_SUPPORT        // remove all shaman dances for x64 builds since
-      #undef MPFR_USE_INTMAX_T            // GCC already support x64 as of "long int" is 64-bit integer, nothing left to do
-    #else
-      #include <stdint.h>                // use int64_t, uint64_t otherwise.
-    #endif
-  #endif
+	#if defined(_MSC_VER) 									// <stdint.h> is available only in msvc2010!
+		#if (_MSC_VER >= 1600)								
+			#include <stdint.h>								
+		#else												// MPFR relies on intmax_t which is available only in msvc2010
+			#undef MPREAL_HAVE_INT64_SUPPORT				// Besides, MPFR - MPIR have to be compiled with msvc2010
+			#undef MPFR_USE_INTMAX_T						// Since we cannot detect this, disable x64 by default
+															// Someone should change this manually if needed.
+		#endif
+	#endif
+	
+	#if defined (__MINGW32__) || defined(__MINGW64__)
+			#include <stdint.h>								// equivalent to msvc2010
+	#elif defined (__GNUC__)
+		#if defined(__amd64__) || defined(__amd64) || defined(__x86_64__) || defined(__x86_64)
+			#undef MPREAL_HAVE_INT64_SUPPORT				// remove all shaman dances for x64 builds since
+			#undef MPFR_USE_INTMAX_T						// GCC already support x64 as of "long int" is 64-bit integer, nothing left to do
+		#else
+			#include <stdint.h>								// use int64_t, uint64_t otherwise.
+		#endif
+	#endif
 
 #endif 
 
 #if defined(MPREAL_HAVE_MSVC_DEBUGVIEW) && defined(_MSC_VER) && defined(_DEBUG)
-#define MPREAL_MSVC_DEBUGVIEW_CODE     DebugView = toString()
-  #define MPREAL_MSVC_DEBUGVIEW_DATA   std::string DebugView
+#define MPREAL_MSVC_DEBUGVIEW_CODE 		DebugView = toString()
+	#define MPREAL_MSVC_DEBUGVIEW_DATA 	std::string DebugView
 #else
-  #define MPREAL_MSVC_DEBUGVIEW_CODE 
-  #define MPREAL_MSVC_DEBUGVIEW_DATA 
+	#define MPREAL_MSVC_DEBUGVIEW_CODE 
+	#define MPREAL_MSVC_DEBUGVIEW_DATA 
 #endif
 
 #include <mpfr.h>
 
 #if (MPFR_VERSION < MPFR_VERSION_NUM(3,0,0))
-  #include <cstdlib>                    // needed for random()
+	#include <cstdlib>										// needed for random()
 #endif
 
 namespace mpfr {
 
 class mpreal {
 private:
-  mpfr_t mp;
+	mpfr_t mp;
 
 public:
-  static mp_rnd_t      default_rnd;  
-  static mp_prec_t    default_prec;  
-  static int        default_base;
-  static int        double_bits;    
+	static mp_rnd_t			default_rnd;	
+	static mp_prec_t		default_prec;	
+	static int				default_base;
+	static int				double_bits;		
     
 public:
-  // Constructors && type conversion
-  mpreal();
-  mpreal(const mpreal& u);
-  mpreal(const mpfr_t u);  
-  mpreal(const mpf_t u);  
-  mpreal(const mpz_t u, mp_prec_t prec = default_prec, mp_rnd_t mode = default_rnd);  
-  mpreal(const mpq_t u, mp_prec_t prec = default_prec, mp_rnd_t mode = default_rnd);  
-  mpreal(const double u, mp_prec_t prec = default_prec, mp_rnd_t mode = default_rnd);
-  mpreal(const long double u, mp_prec_t prec = default_prec, mp_rnd_t mode = default_rnd);
-  mpreal(const unsigned long int u, mp_prec_t prec = default_prec, mp_rnd_t mode = default_rnd);
-  mpreal(const unsigned int u, mp_prec_t prec = default_prec, mp_rnd_t mode = default_rnd);
-  mpreal(const long int u, mp_prec_t prec = default_prec, mp_rnd_t mode = default_rnd);
-  mpreal(const int u, mp_prec_t prec = default_prec, mp_rnd_t mode = default_rnd);
+	// Constructors && type conversion
+	mpreal();
+	mpreal(const mpreal& u);
+	mpreal(const mpfr_t u);	
+	mpreal(const mpf_t u);	
+	mpreal(const mpz_t u, mp_prec_t prec = default_prec, mp_rnd_t mode = default_rnd);	
+	mpreal(const mpq_t u, mp_prec_t prec = default_prec, mp_rnd_t mode = default_rnd);	
+	mpreal(const double u, mp_prec_t prec = default_prec, mp_rnd_t mode = default_rnd);
+	mpreal(const long double u, mp_prec_t prec = default_prec, mp_rnd_t mode = default_rnd);
+	mpreal(const unsigned long int u, mp_prec_t prec = default_prec, mp_rnd_t mode = default_rnd);
+	mpreal(const unsigned int u, mp_prec_t prec = default_prec, mp_rnd_t mode = default_rnd);
+	mpreal(const long int u, mp_prec_t prec = default_prec, mp_rnd_t mode = default_rnd);
+	mpreal(const int u, mp_prec_t prec = default_prec, mp_rnd_t mode = default_rnd);
 
 #if defined (MPREAL_HAVE_INT64_SUPPORT)
-  mpreal(const uint64_t u, mp_prec_t prec = default_prec,  mp_rnd_t mode = default_rnd);
-  mpreal(const int64_t u, mp_prec_t prec = default_prec,  mp_rnd_t mode = default_rnd);
+	mpreal(const uint64_t u, mp_prec_t prec = default_prec,  mp_rnd_t mode = default_rnd);
+	mpreal(const int64_t u, mp_prec_t prec = default_prec,  mp_rnd_t mode = default_rnd);
 #endif
 
-  mpreal(const char* s, mp_prec_t prec = default_prec, int base = default_base, mp_rnd_t mode = default_rnd);
-  mpreal(const std::string& s, mp_prec_t prec = default_prec, int base = default_base, mp_rnd_t mode = default_rnd);
+	mpreal(const char* s, mp_prec_t prec = default_prec, int base = default_base, mp_rnd_t mode = default_rnd);
+	mpreal(const std::string& s, mp_prec_t prec = default_prec, int base = default_base, mp_rnd_t mode = default_rnd);
 
-  ~mpreal();                           
+	~mpreal();                           
 
-  // Operations
-  // =
-  // +, -, *, /, ++, --, <<, >> 
-  // *=, +=, -=, /=,
-  // <, >, ==, <=, >=
+	// Operations
+	// =
+	// +, -, *, /, ++, --, <<, >> 
+	// *=, +=, -=, /=,
+	// <, >, ==, <=, >=
 
-  // =
-  mpreal& operator=(const mpreal& v);
-  mpreal& operator=(const mpf_t v);
-  mpreal& operator=(const mpz_t v);
-  mpreal& operator=(const mpq_t v);
-  mpreal& operator=(const long double v);
-  mpreal& operator=(const double v);    
-  mpreal& operator=(const unsigned long int v);
-  mpreal& operator=(const unsigned int v);
-  mpreal& operator=(const long int v);
-  mpreal& operator=(const int v);
-  mpreal& operator=(const char* s);
+	// =
+	mpreal& operator=(const mpreal& v);
+	mpreal& operator=(const mpf_t v);
+	mpreal& operator=(const mpz_t v);
+	mpreal& operator=(const mpq_t v);
+	mpreal& operator=(const long double v);
+	mpreal& operator=(const double v);		
+	mpreal& operator=(const unsigned long int v);
+	mpreal& operator=(const unsigned int v);
+	mpreal& operator=(const long int v);
+	mpreal& operator=(const int v);
+	mpreal& operator=(const char* s);
 
-  // +
-  mpreal& operator+=(const mpreal& v);
-  mpreal& operator+=(const mpf_t v);
-  mpreal& operator+=(const mpz_t v);
-  mpreal& operator+=(const mpq_t v);
-  mpreal& operator+=(const long double u);
-  mpreal& operator+=(const double u);
-  mpreal& operator+=(const unsigned long int u);
-  mpreal& operator+=(const unsigned int u);
-  mpreal& operator+=(const long int u);
-  mpreal& operator+=(const int u);
+	// +
+	mpreal& operator+=(const mpreal& v);
+	mpreal& operator+=(const mpf_t v);
+	mpreal& operator+=(const mpz_t v);
+	mpreal& operator+=(const mpq_t v);
+	mpreal& operator+=(const long double u);
+	mpreal& operator+=(const double u);
+	mpreal& operator+=(const unsigned long int u);
+	mpreal& operator+=(const unsigned int u);
+	mpreal& operator+=(const long int u);
+	mpreal& operator+=(const int u);
 
 #if defined (MPREAL_HAVE_INT64_SUPPORT)
-  mpreal& operator+=(const int64_t  u);
-  mpreal& operator+=(const uint64_t u);
-  mpreal& operator-=(const int64_t  u);
-  mpreal& operator-=(const uint64_t u);
-  mpreal& operator*=(const int64_t  u);
-  mpreal& operator*=(const uint64_t u);
-  mpreal& operator/=(const int64_t  u);
-  mpreal& operator/=(const uint64_t u);
+	mpreal& operator+=(const int64_t  u);
+	mpreal& operator+=(const uint64_t u);
+	mpreal& operator-=(const int64_t  u);
+	mpreal& operator-=(const uint64_t u);
+	mpreal& operator*=(const int64_t  u);
+	mpreal& operator*=(const uint64_t u);
+	mpreal& operator/=(const int64_t  u);
+	mpreal& operator/=(const uint64_t u);
 #endif 
 
-  const mpreal operator+() const;
-  mpreal& operator++ ();
-  const mpreal  operator++ (int); 
+	const mpreal operator+() const;
+	mpreal& operator++ ();
+	const mpreal  operator++ (int); 
 
-  // -
-  mpreal& operator-=(const mpreal& v);
-  mpreal& operator-=(const mpz_t v);
-  mpreal& operator-=(const mpq_t v);
-  mpreal& operator-=(const long double u);
-  mpreal& operator-=(const double u);
-  mpreal& operator-=(const unsigned long int u);
-  mpreal& operator-=(const unsigned int u);
-  mpreal& operator-=(const long int u);
-  mpreal& operator-=(const int u);
-  const mpreal operator-() const;
-  friend const mpreal operator-(const unsigned long int b, const mpreal& a);
-  friend const mpreal operator-(const unsigned int b, const mpreal& a);
-  friend const mpreal operator-(const long int b, const mpreal& a);
-  friend const mpreal operator-(const int b, const mpreal& a);
-  friend const mpreal operator-(const double b, const mpreal& a);
-  mpreal& operator-- ();    
-  const mpreal  operator-- (int);
+	// -
+	mpreal& operator-=(const mpreal& v);
+	mpreal& operator-=(const mpz_t v);
+	mpreal& operator-=(const mpq_t v);
+	mpreal& operator-=(const long double u);
+	mpreal& operator-=(const double u);
+	mpreal& operator-=(const unsigned long int u);
+	mpreal& operator-=(const unsigned int u);
+	mpreal& operator-=(const long int u);
+	mpreal& operator-=(const int u);
+	const mpreal operator-() const;
+	friend const mpreal operator-(const unsigned long int b, const mpreal& a);
+	friend const mpreal operator-(const unsigned int b, const mpreal& a);
+	friend const mpreal operator-(const long int b, const mpreal& a);
+	friend const mpreal operator-(const int b, const mpreal& a);
+	friend const mpreal operator-(const double b, const mpreal& a);
+	mpreal& operator-- ();    
+	const mpreal  operator-- (int);
 
-  // *
-  mpreal& operator*=(const mpreal& v);
-  mpreal& operator*=(const mpz_t v);
-  mpreal& operator*=(const mpq_t v);
-  mpreal& operator*=(const long double v);
-  mpreal& operator*=(const double v);
-  mpreal& operator*=(const unsigned long int v);
-  mpreal& operator*=(const unsigned int v);
-  mpreal& operator*=(const long int v);
-  mpreal& operator*=(const int v);
-  
-  // /
-  mpreal& operator/=(const mpreal& v);
-  mpreal& operator/=(const mpz_t v);
-  mpreal& operator/=(const mpq_t v);
-  mpreal& operator/=(const long double v);
-  mpreal& operator/=(const double v);
-  mpreal& operator/=(const unsigned long int v);
-  mpreal& operator/=(const unsigned int v);
-  mpreal& operator/=(const long int v);
-  mpreal& operator/=(const int v);
-  friend const mpreal operator/(const unsigned long int b, const mpreal& a);
-  friend const mpreal operator/(const unsigned int b, const mpreal& a);
-  friend const mpreal operator/(const long int b, const mpreal& a);
-  friend const mpreal operator/(const int b, const mpreal& a);
-  friend const mpreal operator/(const double b, const mpreal& a);
+	// *
+	mpreal& operator*=(const mpreal& v);
+	mpreal& operator*=(const mpz_t v);
+	mpreal& operator*=(const mpq_t v);
+	mpreal& operator*=(const long double v);
+	mpreal& operator*=(const double v);
+	mpreal& operator*=(const unsigned long int v);
+	mpreal& operator*=(const unsigned int v);
+	mpreal& operator*=(const long int v);
+	mpreal& operator*=(const int v);
+	
+	// /
+	mpreal& operator/=(const mpreal& v);
+	mpreal& operator/=(const mpz_t v);
+	mpreal& operator/=(const mpq_t v);
+	mpreal& operator/=(const long double v);
+	mpreal& operator/=(const double v);
+	mpreal& operator/=(const unsigned long int v);
+	mpreal& operator/=(const unsigned int v);
+	mpreal& operator/=(const long int v);
+	mpreal& operator/=(const int v);
+	friend const mpreal operator/(const unsigned long int b, const mpreal& a);
+	friend const mpreal operator/(const unsigned int b, const mpreal& a);
+	friend const mpreal operator/(const long int b, const mpreal& a);
+	friend const mpreal operator/(const int b, const mpreal& a);
+	friend const mpreal operator/(const double b, const mpreal& a);
 
-  //<<= Fast Multiplication by 2^u
-  mpreal& operator<<=(const unsigned long int u);
-  mpreal& operator<<=(const unsigned int u);
-  mpreal& operator<<=(const long int u);
-  mpreal& operator<<=(const int u);
+	//<<= Fast Multiplication by 2^u
+	mpreal& operator<<=(const unsigned long int u);
+	mpreal& operator<<=(const unsigned int u);
+	mpreal& operator<<=(const long int u);
+	mpreal& operator<<=(const int u);
 
-  //>>= Fast Division by 2^u
-  mpreal& operator>>=(const unsigned long int u);
-  mpreal& operator>>=(const unsigned int u);
-  mpreal& operator>>=(const long int u);
-  mpreal& operator>>=(const int u);
+	//>>= Fast Division by 2^u
+	mpreal& operator>>=(const unsigned long int u);
+	mpreal& operator>>=(const unsigned int u);
+	mpreal& operator>>=(const long int u);
+	mpreal& operator>>=(const int u);
 
-  // Boolean Operators
-  friend bool operator >  (const mpreal& a, const mpreal& b);
-  friend bool operator >= (const mpreal& a, const mpreal& b);
-  friend bool operator <  (const mpreal& a, const mpreal& b);
-  friend bool operator <= (const mpreal& a, const mpreal& b);
-  friend bool operator == (const mpreal& a, const mpreal& b);
-  friend bool operator != (const mpreal& a, const mpreal& b);
+	// Boolean Operators
+	friend bool operator >  (const mpreal& a, const mpreal& b);
+	friend bool operator >= (const mpreal& a, const mpreal& b);
+	friend bool operator <  (const mpreal& a, const mpreal& b);
+	friend bool operator <= (const mpreal& a, const mpreal& b);
+	friend bool operator == (const mpreal& a, const mpreal& b);
+	friend bool operator != (const mpreal& a, const mpreal& b);
 
-  // Optimized specializations for boolean operators
-  friend bool operator == (const mpreal& a, const unsigned long int b);
-  friend bool operator == (const mpreal& a, const unsigned int b);
-  friend bool operator == (const mpreal& a, const long int b);
-  friend bool operator == (const mpreal& a, const int b);
-  friend bool operator == (const mpreal& a, const long double b);
-  friend bool operator == (const mpreal& a, const double b);
+	// Optimized specializations for boolean operators
+	friend bool operator == (const mpreal& a, const unsigned long int b);
+	friend bool operator == (const mpreal& a, const unsigned int b);
+	friend bool operator == (const mpreal& a, const long int b);
+	friend bool operator == (const mpreal& a, const int b);
+	friend bool operator == (const mpreal& a, const long double b);
+	friend bool operator == (const mpreal& a, const double b);
 
-  // Type Conversion operators
-  long      toLong()  const;
-  unsigned long  toULong()  const;
-  double      toDouble()  const;
-  long double    toLDouble()  const;
+	// Type Conversion operators
+	long			toLong()	const;
+	unsigned long	toULong()	const;
+	double			toDouble()	const;
+	long double		toLDouble()	const;
 
 #if defined (MPREAL_HAVE_INT64_SUPPORT)
-  int64_t      toInt64()  const;
-  uint64_t    toUInt64()  const;
+	int64_t			toInt64()	const;
+	uint64_t		toUInt64()	const;
 #endif
 
-  // Get raw pointers
-  ::mpfr_ptr mpfr_ptr();
-  ::mpfr_srcptr mpfr_srcptr() const;
+	// Get raw pointers
+	::mpfr_ptr mpfr_ptr();
+	::mpfr_srcptr mpfr_srcptr() const;
 
-  // Convert mpreal to string with n significant digits in base b
-  // n = 0 -> convert with the maximum available digits 
-  std::string    toString(int n = 0, int b = default_base, mp_rnd_t mode = default_rnd) const;
+	// Convert mpreal to string with n significant digits in base b
+	// n = 0 -> convert with the maximum available digits 
+	std::string		toString(int n = 0, int b = default_base, mp_rnd_t mode = default_rnd) const;
 
 #if (MPFR_VERSION >= MPFR_VERSION_NUM(2,4,0))
-  std::string    toString(const std::string& format) const;
+	std::string		toString(const std::string& format) const;
 #endif
 
-  // Math Functions
-  friend const mpreal sqr  (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal sqrt(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal sqrt(const unsigned long int v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal cbrt(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal root(const mpreal& v, unsigned long int k, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal pow  (const mpreal& a, const mpreal& b, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal pow  (const mpreal& a, const mpz_t b, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal pow  (const mpreal& a, const unsigned long int b, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal pow  (const mpreal& a, const long int b, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal pow  (const unsigned long int a, const mpreal& b, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal pow  (const unsigned long int a, const unsigned long int b, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal fabs(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	// Math Functions
+	friend const mpreal sqr	(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal sqrt(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal sqrt(const unsigned long int v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal cbrt(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal root(const mpreal& v, unsigned long int k, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal pow	(const mpreal& a, const mpreal& b, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal pow	(const mpreal& a, const mpz_t b, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal pow	(const mpreal& a, const unsigned long int b, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal pow	(const mpreal& a, const long int b, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal pow	(const unsigned long int a, const mpreal& b, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal pow	(const unsigned long int a, const unsigned long int b, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal fabs(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
 
-  friend const mpreal abs(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal dim(const mpreal& a, const mpreal& b, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend inline const mpreal mul_2ui(const mpreal& v, unsigned long int k, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend inline const mpreal mul_2si(const mpreal& v, long int k, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend inline const mpreal div_2ui(const mpreal& v, unsigned long int k, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend inline const mpreal div_2si(const mpreal& v, long int k, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend int cmpabs(const mpreal& a,const mpreal& b);
-  
-  friend const mpreal log  (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal log2 (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal log10(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal exp  (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); 
-  friend const mpreal exp2 (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal exp10(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal log1p(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal expm1(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal abs(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal dim(const mpreal& a, const mpreal& b, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend inline const mpreal mul_2ui(const mpreal& v, unsigned long int k, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend inline const mpreal mul_2si(const mpreal& v, long int k, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend inline const mpreal div_2ui(const mpreal& v, unsigned long int k, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend inline const mpreal div_2si(const mpreal& v, long int k, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend int cmpabs(const mpreal& a,const mpreal& b);
+	
+	friend const mpreal log  (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal log2 (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal log10(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal exp  (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); 
+	friend const mpreal exp2 (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal exp10(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal log1p(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal expm1(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
 
-  friend const mpreal cos(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal sin(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal tan(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal sec(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal csc(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal cot(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend int sin_cos(mpreal& s, mpreal& c, const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal cos(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal sin(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal tan(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal sec(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal csc(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal cot(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend int sin_cos(mpreal& s, mpreal& c, const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
 
-  friend const mpreal acos  (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal asin  (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal atan  (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal atan2 (const mpreal& y, const mpreal& x, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal acot  (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal asec  (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal acsc  (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal acos  (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal asin  (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal atan  (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal atan2 (const mpreal& y, const mpreal& x, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal acot  (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal asec  (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal acsc  (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
 
-  friend const mpreal cosh  (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal sinh  (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal tanh  (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal sech  (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal csch  (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal coth  (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal acosh (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal asinh (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal atanh (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal acoth (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal asech (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal acsch (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal cosh  (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal sinh  (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal tanh  (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal sech  (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal csch  (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal coth  (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal acosh (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal asinh (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal atanh (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal acoth (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal asech (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal acsch (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
 
-  friend const mpreal hypot (const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal hypot (const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode = mpreal::default_rnd);
 
-  friend const mpreal fac_ui (unsigned long int v,  mp_prec_t prec = mpreal::default_prec, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal eint   (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal fac_ui (unsigned long int v,  mp_prec_t prec = mpreal::default_prec, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal eint   (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
 
-  friend const mpreal gamma (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal lngamma (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal lgamma (const mpreal& v, int *signp = 0, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal zeta (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal erf (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal erfc (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal besselj0 (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); 
-  friend const mpreal besselj1 (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); 
-  friend const mpreal besseljn (long n, const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal bessely0 (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal bessely1 (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal besselyn (long n, const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); 
-  friend const mpreal fma (const mpreal& v1, const mpreal& v2, const mpreal& v3, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal fms (const mpreal& v1, const mpreal& v2, const mpreal& v3, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal agm (const mpreal& v1, const mpreal& v2, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal sum (const mpreal tab[], unsigned long int n, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend int sgn(const mpreal& v); // -1 or +1
+	friend const mpreal gamma (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal lngamma (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal lgamma (const mpreal& v, int *signp = 0, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal zeta (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal erf (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal erfc (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal besselj0 (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); 
+	friend const mpreal besselj1 (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); 
+	friend const mpreal besseljn (long n, const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal bessely0 (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal bessely1 (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal besselyn (long n, const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd); 
+	friend const mpreal fma (const mpreal& v1, const mpreal& v2, const mpreal& v3, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal fms (const mpreal& v1, const mpreal& v2, const mpreal& v3, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal agm (const mpreal& v1, const mpreal& v2, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal sum (const mpreal tab[], unsigned long int n, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend int sgn(const mpreal& v); // -1 or +1
 
 // MPFR 2.4.0 Specifics
 #if (MPFR_VERSION >= MPFR_VERSION_NUM(2,4,0))
-  friend int sinh_cosh(mpreal& s, mpreal& c, const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal li2(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal fmod (const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal rec_sqrt(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend int sinh_cosh(mpreal& s, mpreal& c, const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal li2(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal fmod (const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal rec_sqrt(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
 #endif
 
 // MPFR 3.0.0 Specifics
 #if (MPFR_VERSION >= MPFR_VERSION_NUM(3,0,0))
-  friend const mpreal digamma(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal ai(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-    friend const mpreal urandom (gmp_randstate_t& state,mp_rnd_t rnd_mode = mpreal::default_rnd);   // use gmp_randinit_default() to init state, gmp_randclear() to clear
-  friend bool isregular(const mpreal& v);
+	friend const mpreal digamma(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal ai(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+    friend const mpreal urandom (gmp_randstate_t& state,mp_rnd_t rnd_mode = mpreal::default_rnd); 	// use gmp_randinit_default() to init state, gmp_randclear() to clear
+	friend bool isregular(const mpreal& v);
 #endif
-  
-  // Uniformly distributed random number generation in [0,1] using
-  // Mersenne-Twister algorithm by default.
-  // Use parameter to setup seed, e.g.: random((unsigned)time(NULL))
-  // Check urandom() for more precise control.
-  friend const mpreal random(unsigned int seed = 0);
-  
-  // Exponent and mantissa manipulation
-  friend const mpreal frexp(const mpreal& v, mp_exp_t* exp);  
-  friend const mpreal ldexp(const mpreal& v, mp_exp_t exp);
+	
+	// Uniformly distributed random number generation in [0,1] using
+	// Mersenne-Twister algorithm by default.
+	// Use parameter to setup seed, e.g.: random((unsigned)time(NULL))
+	// Check urandom() for more precise control.
+	friend const mpreal random(unsigned int seed = 0);
+	
+	// Exponent and mantissa manipulation
+	friend const mpreal frexp(const mpreal& v, mp_exp_t* exp);	
+	friend const mpreal ldexp(const mpreal& v, mp_exp_t exp);
 
-  // Splits mpreal value into fractional and integer parts.
-  // Returns fractional part and stores integer part in n.
-  friend const mpreal modf(const mpreal& v, mpreal& n);  
+	// Splits mpreal value into fractional and integer parts.
+	// Returns fractional part and stores integer part in n.
+	friend const mpreal modf(const mpreal& v, mpreal& n);	
 
-  // Constants
-  // don't forget to call mpfr_free_cache() for every thread where you are using const-functions
-  friend const mpreal const_log2 (mp_prec_t prec = mpreal::default_prec, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal const_pi (mp_prec_t prec = mpreal::default_prec, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal const_euler (mp_prec_t prec = mpreal::default_prec, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal const_catalan (mp_prec_t prec = mpreal::default_prec, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  // returns +inf iff sign>=0 otherwise -inf
-  friend const mpreal const_infinity(int sign = 1, mp_prec_t prec = mpreal::default_prec, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	// Constants
+	// don't forget to call mpfr_free_cache() for every thread where you are using const-functions
+	friend const mpreal const_log2 (mp_prec_t prec = mpreal::default_prec, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal const_pi (mp_prec_t prec = mpreal::default_prec, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal const_euler (mp_prec_t prec = mpreal::default_prec, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal const_catalan (mp_prec_t prec = mpreal::default_prec, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	// returns +inf iff sign>=0 otherwise -inf
+	friend const mpreal const_infinity(int sign = 1, mp_prec_t prec = mpreal::default_prec, mp_rnd_t rnd_mode = mpreal::default_rnd);
 
-  // Output/ Input
-  friend std::ostream& operator<<(std::ostream& os, const mpreal& v);
+	// Output/ Input
+	friend std::ostream& operator<<(std::ostream& os, const mpreal& v);
     friend std::istream& operator>>(std::istream& is, mpreal& v);
 
-  // Integer Related Functions
-  friend const mpreal rint (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal ceil (const mpreal& v);
-  friend const mpreal floor(const mpreal& v);
-  friend const mpreal round(const mpreal& v);
-  friend const mpreal trunc(const mpreal& v);
-  friend const mpreal rint_ceil (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal rint_floor(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal rint_round(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal rint_trunc(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal frac (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal remainder (const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  friend const mpreal remquo (long* q, const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode = mpreal::default_rnd);
-  
-  // Miscellaneous Functions
-  friend const mpreal nexttoward (const mpreal& x, const mpreal& y);
-  friend const mpreal nextabove  (const mpreal& x);
-  friend const mpreal nextbelow  (const mpreal& x);
+	// Integer Related Functions
+	friend const mpreal rint (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal ceil (const mpreal& v);
+	friend const mpreal floor(const mpreal& v);
+	friend const mpreal round(const mpreal& v);
+	friend const mpreal trunc(const mpreal& v);
+	friend const mpreal rint_ceil (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal rint_floor(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal rint_round(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal rint_trunc(const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal frac (const mpreal& v, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal remainder (const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	friend const mpreal remquo (long* q, const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode = mpreal::default_rnd);
+	
+	// Miscellaneous Functions
+	friend const mpreal nexttoward (const mpreal& x, const mpreal& y);
+	friend const mpreal nextabove  (const mpreal& x);
+	friend const mpreal nextbelow  (const mpreal& x);
 
-  // use gmp_randinit_default() to init state, gmp_randclear() to clear
-  friend const mpreal urandomb (gmp_randstate_t& state); 
+	// use gmp_randinit_default() to init state, gmp_randclear() to clear
+	friend const mpreal urandomb (gmp_randstate_t& state); 
 
 // MPFR < 2.4.2 Specifics
 #if (MPFR_VERSION <= MPFR_VERSION_NUM(2,4,2))
-  friend const mpreal random2 (mp_size_t size, mp_exp_t exp);
+	friend const mpreal random2 (mp_size_t size, mp_exp_t exp);
 #endif
 
-  // Instance Checkers
-  friend bool isnan  (const mpreal& v);
-  friend bool isinf  (const mpreal& v);
-  friend bool isfinite(const mpreal& v);
+	// Instance Checkers
+	friend bool isnan	(const mpreal& v);
+	friend bool isinf	(const mpreal& v);
+	friend bool isfinite(const mpreal& v);
 
-  friend bool isnum(const mpreal& v);
-  friend bool  iszero(const mpreal& v);
-  friend bool isint(const mpreal& v);
+	friend bool isnum(const mpreal& v);
+	friend bool	iszero(const mpreal& v);
+	friend bool isint(const mpreal& v);
 
-  // Set/Get instance properties
-  inline mp_prec_t  get_prec() const;
-  inline void      set_prec(mp_prec_t prec, mp_rnd_t rnd_mode = default_rnd);  // Change precision with rounding mode
+	// Set/Get instance properties
+	inline mp_prec_t	get_prec() const;
+	inline void			set_prec(mp_prec_t prec, mp_rnd_t rnd_mode = default_rnd);	// Change precision with rounding mode
 
-  // Aliases for get_prec(), set_prec() - needed for compatibility with std::complex<mpreal> interface
-  inline mpreal&    setPrecision(int Precision, mp_rnd_t RoundingMode = (mpfr_get_default_rounding_mode)());
-  inline int      getPrecision() const;
-  
-  // Set mpreal to +/- inf, NaN, +/-0
-  mpreal&    setInf  (int Sign = +1);  
-  mpreal&    setNan  ();
-  mpreal&    setZero  (int Sign = +1);
-  mpreal&    setSign  (int Sign, mp_rnd_t RoundingMode = (mpfr_get_default_rounding_mode)());
+	// Aliases for get_prec(), set_prec() - needed for compatibility with std::complex<mpreal> interface
+	inline mpreal&		setPrecision(int Precision, mp_rnd_t RoundingMode = (mpfr_get_default_rounding_mode)());
+	inline int			getPrecision() const;
+	
+	// Set mpreal to +/- inf, NaN, +/-0
+	mpreal&		setInf	(int Sign = +1);	
+	mpreal&		setNan	();
+	mpreal&		setZero	(int Sign = +1);
+	mpreal&		setSign	(int Sign, mp_rnd_t RoundingMode = (mpfr_get_default_rounding_mode)());
 
-  //Exponent
-  mp_exp_t get_exp();
-  int set_exp(mp_exp_t e);
-  int check_range (int t, mp_rnd_t rnd_mode = default_rnd);
-  int subnormalize (int t,mp_rnd_t rnd_mode = default_rnd);
+	//Exponent
+	mp_exp_t get_exp();
+	int set_exp(mp_exp_t e);
+	int check_range (int t, mp_rnd_t rnd_mode = default_rnd);
+	int subnormalize (int t,mp_rnd_t rnd_mode = default_rnd);
 
-  // Inexact conversion from float
-  inline bool fits_in_bits(double x, int n);
+	// Inexact conversion from float
+	inline bool fits_in_bits(double x, int n);
 
-  // Set/Get global properties
-  static void      set_default_prec(mp_prec_t prec);
-  static mp_prec_t  get_default_prec();
-  static void      set_default_base(int base);
-  static int      get_default_base();
-  static void      set_double_bits(int dbits);
-  static int      get_double_bits();
-  static void      set_default_rnd(mp_rnd_t rnd_mode);
-  static mp_rnd_t    get_default_rnd();
-  static mp_exp_t    get_emin (void);
-  static mp_exp_t    get_emax (void);
-  static mp_exp_t    get_emin_min (void);
-  static mp_exp_t    get_emin_max (void);
-  static mp_exp_t    get_emax_min (void);
-  static mp_exp_t    get_emax_max (void);
-  static int      set_emin (mp_exp_t exp);
-  static int      set_emax (mp_exp_t exp);
+	// Set/Get global properties
+	static void			set_default_prec(mp_prec_t prec);
+	static mp_prec_t	get_default_prec();
+	static void			set_default_base(int base);
+	static int			get_default_base();
+	static void			set_double_bits(int dbits);
+	static int			get_double_bits();
+	static void			set_default_rnd(mp_rnd_t rnd_mode);
+	static mp_rnd_t		get_default_rnd();
+	static mp_exp_t		get_emin (void);
+	static mp_exp_t		get_emax (void);
+	static mp_exp_t		get_emin_min (void);
+	static mp_exp_t		get_emin_max (void);
+	static mp_exp_t		get_emax_min (void);
+	static mp_exp_t		get_emax_max (void);
+	static int			set_emin (mp_exp_t exp);
+	static int			set_emax (mp_exp_t exp);
 
-  // Efficient swapping of two mpreal values
-  friend void swap(mpreal& x, mpreal& y);
-  
-  //Min Max - macros is evil. Needed for systems which defines max and min globally as macros (e.g. Windows)
-  //Hope that globally defined macros use > < operations only
-  friend const mpreal fmax(const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode = default_rnd);
-  friend const mpreal fmin(const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode = default_rnd);
+	// Efficient swapping of two mpreal values
+	friend void swap(mpreal& x, mpreal& y);
+	
+	//Min Max - macros is evil. Needed for systems which defines max and min globally as macros (e.g. Windows)
+	//Hope that globally defined macros use > < operations only
+	friend const mpreal fmax(const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode = default_rnd);
+	friend const mpreal fmin(const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode = default_rnd);
 
 #if defined (MPREAL_HAVE_CUSTOM_MPFR_MALLOC)
 
 private:
-  // Optimized dynamic memory allocation/(re-)deallocation.
-  static bool is_custom_malloc;
-  static void *mpreal_allocate      (size_t alloc_size);
-  static void *mpreal_reallocate      (void *ptr, size_t old_size, size_t new_size);
-  static void mpreal_free          (void *ptr, size_t size);
-  inline static void set_custom_malloc  (void);
+	// Optimized dynamic memory allocation/(re-)deallocation.
+	static bool is_custom_malloc;
+	static void *mpreal_allocate			(size_t alloc_size);
+	static void *mpreal_reallocate			(void *ptr, size_t old_size, size_t new_size);
+	static void mpreal_free					(void *ptr, size_t size);
+	inline static void set_custom_malloc	(void);
 
 #endif
 
 
 private:
-  // Human friendly Debug Preview in Visual Studio.
-  // Put one of these lines:
-  //
-  // mpfr::mpreal=<DebugView>                ; Show value only
-  // mpfr::mpreal=<DebugView>, <mp[0]._mpfr_prec,u>bits  ; Show value & precision
-  // 
-  // at the beginning of
-  // [Visual Studio Installation Folder]\Common7\Packages\Debugger\autoexp.dat
-  MPREAL_MSVC_DEBUGVIEW_DATA
+	// Human friendly Debug Preview in Visual Studio.
+	// Put one of these lines:
+	//
+	// mpfr::mpreal=<DebugView>								; Show value only
+	// mpfr::mpreal=<DebugView>, <mp[0]._mpfr_prec,u>bits	; Show value & precision
+	// 
+	// at the beginning of
+	// [Visual Studio Installation Folder]\Common7\Packages\Debugger\autoexp.dat
+	MPREAL_MSVC_DEBUGVIEW_DATA
 };
 
 //////////////////////////////////////////////////////////////////////////
 // Exceptions
 class conversion_overflow : public std::exception {
 public:
-  std::string why() { return "inexact conversion from floating point"; }
+	std::string why() { return "inexact conversion from floating point"; }
 };
 
 namespace internal{
 
-  // Use SFINAE to restrict arithmetic operations instantiation only for numeric types
-  // This is needed for smooth integration with libraries based on expression templates
-  template <typename ArgumentType> struct result_type {};  
-  
-  template <> struct result_type<mpreal>        {typedef mpreal type;};  
-  template <> struct result_type<mpz_t>        {typedef mpreal type;};  
-  template <> struct result_type<mpq_t>        {typedef mpreal type;};  
-  template <> struct result_type<long double>      {typedef mpreal type;};  
-  template <> struct result_type<double>        {typedef mpreal type;};  
-  template <> struct result_type<unsigned long int>  {typedef mpreal type;};  
-  template <> struct result_type<unsigned int>    {typedef mpreal type;};  
-  template <> struct result_type<long int>      {typedef mpreal type;};  
-  template <> struct result_type<int>          {typedef mpreal type;};  
+	// Use SFINAE to restrict arithmetic operations instantiation only for numeric types
+	// This is needed for smooth integration with libraries based on expression templates
+	template <typename ArgumentType> struct result_type {};	
+	
+	template <> struct result_type<mpreal>				{typedef mpreal type;};	
+	template <> struct result_type<mpz_t>				{typedef mpreal type;};	
+	template <> struct result_type<mpq_t>				{typedef mpreal type;};	
+	template <> struct result_type<long double>			{typedef mpreal type;};	
+	template <> struct result_type<double>				{typedef mpreal type;};	
+	template <> struct result_type<unsigned long int>	{typedef mpreal type;};	
+	template <> struct result_type<unsigned int>		{typedef mpreal type;};	
+	template <> struct result_type<long int>			{typedef mpreal type;};	
+	template <> struct result_type<int>					{typedef mpreal type;};	
 
 #if defined (MPREAL_HAVE_INT64_SUPPORT)
-  template <> struct result_type<int64_t  >      {typedef mpreal type;};  
-  template <> struct result_type<uint64_t >      {typedef mpreal type;};  
+	template <> struct result_type<int64_t  >			{typedef mpreal type;};	
+	template <> struct result_type<uint64_t >			{typedef mpreal type;};	
 #endif
 }
 
 // + Addition
 template <typename Rhs> 
 inline const typename internal::result_type<Rhs>::type 
-  operator+(const mpreal& lhs, const Rhs& rhs){ return mpreal(lhs) += rhs;  }
+	operator+(const mpreal& lhs, const Rhs& rhs){ return mpreal(lhs) += rhs;	}
 
 template <typename Lhs> 
 inline const typename internal::result_type<Lhs>::type 
-  operator+(const Lhs& lhs, const mpreal& rhs){ return mpreal(rhs) += lhs;  } 
+	operator+(const Lhs& lhs, const mpreal& rhs){ return mpreal(rhs) += lhs;	} 
 
 // - Subtraction
 template <typename Rhs> 
 inline const typename internal::result_type<Rhs>::type 
-  operator-(const mpreal& lhs, const Rhs& rhs){ return mpreal(lhs) -= rhs;  }
+	operator-(const mpreal& lhs, const Rhs& rhs){ return mpreal(lhs) -= rhs;	}
 
 template <typename Lhs> 
 inline const typename internal::result_type<Lhs>::type 
-  operator-(const Lhs& lhs, const mpreal& rhs){ return mpreal(lhs) -= rhs;  }
+	operator-(const Lhs& lhs, const mpreal& rhs){ return mpreal(lhs) -= rhs;	}
 
 // * Multiplication
 template <typename Rhs> 
 inline const typename internal::result_type<Rhs>::type 
-  operator*(const mpreal& lhs, const Rhs& rhs){ return mpreal(lhs) *= rhs;  }
+	operator*(const mpreal& lhs, const Rhs& rhs){ return mpreal(lhs) *= rhs;	}
 
 template <typename Lhs> 
 inline const typename internal::result_type<Lhs>::type 
-  operator*(const Lhs& lhs, const mpreal& rhs){ return mpreal(rhs) *= lhs;  } 
+	operator*(const Lhs& lhs, const mpreal& rhs){ return mpreal(rhs) *= lhs;	} 
 
 // / Division
 template <typename Rhs> 
 inline const typename internal::result_type<Rhs>::type 
-  operator/(const mpreal& lhs, const Rhs& rhs){ return mpreal(lhs) /= rhs;  }
+	operator/(const mpreal& lhs, const Rhs& rhs){ return mpreal(lhs) /= rhs;	}
 
 template <typename Lhs> 
 inline const typename internal::result_type<Lhs>::type 
-  operator/(const Lhs& lhs, const mpreal& rhs){ return mpreal(lhs) /= rhs;  }
+	operator/(const Lhs& lhs, const mpreal& rhs){ return mpreal(lhs) /= rhs;	}
 
 //////////////////////////////////////////////////////////////////////////
 // sqrt
@@ -654,13 +654,13 @@ const mpreal pow(const int a, const int b, mp_rnd_t rnd_mode = mpreal::default_r
 const mpreal pow(const int a, const long double b, mp_rnd_t rnd_mode = mpreal::default_rnd);
 const mpreal pow(const int a, const double b, mp_rnd_t rnd_mode = mpreal::default_rnd); 
 
-const mpreal pow(const long double a, const long double b, mp_rnd_t rnd_mode = mpreal::default_rnd);  
+const mpreal pow(const long double a, const long double b, mp_rnd_t rnd_mode = mpreal::default_rnd);	
 const mpreal pow(const long double a, const unsigned long int b, mp_rnd_t rnd_mode = mpreal::default_rnd);
 const mpreal pow(const long double a, const unsigned int b, mp_rnd_t rnd_mode = mpreal::default_rnd);
 const mpreal pow(const long double a, const long int b, mp_rnd_t rnd_mode = mpreal::default_rnd);
 const mpreal pow(const long double a, const int b, mp_rnd_t rnd_mode = mpreal::default_rnd);
 
-const mpreal pow(const double a, const double b, mp_rnd_t rnd_mode = mpreal::default_rnd);  
+const mpreal pow(const double a, const double b, mp_rnd_t rnd_mode = mpreal::default_rnd);	
 const mpreal pow(const double a, const unsigned long int b, mp_rnd_t rnd_mode = mpreal::default_rnd);
 const mpreal pow(const double a, const unsigned int b, mp_rnd_t rnd_mode = mpreal::default_rnd);
 const mpreal pow(const double a, const long int b, mp_rnd_t rnd_mode = mpreal::default_rnd);
@@ -672,7 +672,7 @@ const mpreal pow(const double a, const int b, mp_rnd_t rnd_mode = mpreal::defaul
 inline const mpreal machine_epsilon(mp_prec_t prec = mpreal::get_default_prec());
 
 //  Returns the positive distance from abs(x) to the next larger in magnitude floating point number of the same precision as x
-inline const mpreal machine_epsilon(const mpreal& x);    
+inline const mpreal machine_epsilon(const mpreal& x);		
 
 inline const mpreal mpreal_min(mp_prec_t prec = mpreal::get_default_prec());
 inline const mpreal mpreal_max(mp_prec_t prec = mpreal::get_default_prec());
@@ -680,9 +680,9 @@ inline bool isEqualFuzzy(const mpreal& a, const mpreal& b, const mpreal& eps);
 inline bool isEqualUlps(const mpreal& a, const mpreal& b, int maxUlps);
 
 //////////////////////////////////////////////////////////////////////////
-//   Bits - decimal digits relation
-//    bits   = ceil(digits*log[2](10))
-//    digits = floor(bits*log[10](2))
+// 	Bits - decimal digits relation
+//		bits   = ceil(digits*log[2](10))
+//		digits = floor(bits*log[10](2))
 
 inline mp_prec_t digits2bits(int d);
 inline int bits2digits(mp_prec_t b);
@@ -700,541 +700,541 @@ const mpreal (min)(const mpreal& x, const mpreal& y);
 // Operators - Assignment
 inline mpreal& mpreal::operator=(const mpreal& v)
 {
-  if (this != &v)
-  {
-    mpfr_clear(mp);
-    mpfr_init2(mp,mpfr_get_prec(v.mp));
-    mpfr_set(mp,v.mp,default_rnd);
+	if (this != &v)
+	{
+		mpfr_clear(mp);
+		mpfr_init2(mp,mpfr_get_prec(v.mp));
+		mpfr_set(mp,v.mp,default_rnd);
 
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-  }
-  return *this;
+		MPREAL_MSVC_DEBUGVIEW_CODE;
+	}
+	return *this;
 }
 
 inline mpreal& mpreal::operator=(const mpf_t v)
 {
-  mpfr_set_f(mp,v,default_rnd);
-  
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_set_f(mp,v,default_rnd);
+	
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator=(const mpz_t v)
 {
-  mpfr_set_z(mp,v,default_rnd);
-  
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_set_z(mp,v,default_rnd);
+	
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator=(const mpq_t v)
 {
-  mpfr_set_q(mp,v,default_rnd);
+	mpfr_set_q(mp,v,default_rnd);
 
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
-inline mpreal& mpreal::operator=(const long double v)    
-{  
+inline mpreal& mpreal::operator=(const long double v)		
+{	
     mpfr_set_ld(mp,v,default_rnd);
 
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
-inline mpreal& mpreal::operator=(const double v)        
-{  
+inline mpreal& mpreal::operator=(const double v)				
+{	
     if(double_bits == -1 || fits_in_bits(v, double_bits))
     {
-      mpfr_set_d(mp,v,default_rnd);
+    	mpfr_set_d(mp,v,default_rnd);
 
-    MPREAL_MSVC_DEBUGVIEW_CODE;
+		MPREAL_MSVC_DEBUGVIEW_CODE;
     }
     else
         throw conversion_overflow();
 
-  return *this;
+	return *this;
 }
 
-inline mpreal& mpreal::operator=(const unsigned long int v)  
-{  
-  mpfr_set_ui(mp,v,default_rnd);  
+inline mpreal& mpreal::operator=(const unsigned long int v)	
+{	
+	mpfr_set_ui(mp,v,default_rnd);	
 
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
-inline mpreal& mpreal::operator=(const unsigned int v)    
-{  
-  mpfr_set_ui(mp,v,default_rnd);  
+inline mpreal& mpreal::operator=(const unsigned int v)		
+{	
+	mpfr_set_ui(mp,v,default_rnd);	
 
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
-inline mpreal& mpreal::operator=(const long int v)      
-{  
-  mpfr_set_si(mp,v,default_rnd);  
+inline mpreal& mpreal::operator=(const long int v)			
+{	
+	mpfr_set_si(mp,v,default_rnd);	
 
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator=(const int v)
-{  
-  mpfr_set_si(mp,v,default_rnd);  
+{	
+	mpfr_set_si(mp,v,default_rnd);	
 
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 //////////////////////////////////////////////////////////////////////////
 // + Addition
 inline mpreal& mpreal::operator+=(const mpreal& v)
 {
-  mpfr_add(mp,mp,v.mp,default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_add(mp,mp,v.mp,default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator+=(const mpf_t u)
 {
-  *this += mpreal(u);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	*this += mpreal(u);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator+=(const mpz_t u)
 {
-  mpfr_add_z(mp,mp,u,default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_add_z(mp,mp,u,default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator+=(const mpq_t u)
 {
-  mpfr_add_q(mp,mp,u,default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_add_q(mp,mp,u,default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator+= (const long double u)
 {
-  *this += mpreal(u);  
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;  
+	*this += mpreal(u);	
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;	
 }
 
 inline mpreal& mpreal::operator+= (const double u)
 {
 #if (MPFR_VERSION >= MPFR_VERSION_NUM(2,4,0))
-  mpfr_add_d(mp,mp,u,default_rnd);
+	mpfr_add_d(mp,mp,u,default_rnd);
 #else
-  *this += mpreal(u);
+	*this += mpreal(u);
 #endif
 
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator+=(const unsigned long int u)
 {
-  mpfr_add_ui(mp,mp,u,default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_add_ui(mp,mp,u,default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator+=(const unsigned int u)
 {
-  mpfr_add_ui(mp,mp,u,default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_add_ui(mp,mp,u,default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator+=(const long int u)
 {
-  mpfr_add_si(mp,mp,u,default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_add_si(mp,mp,u,default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator+=(const int u)
 {
-  mpfr_add_si(mp,mp,u,default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_add_si(mp,mp,u,default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 #if defined (MPREAL_HAVE_INT64_SUPPORT)
-inline mpreal& mpreal::operator+=(const int64_t  u){  *this += mpreal(u); MPREAL_MSVC_DEBUGVIEW_CODE; return *this;  }
-inline mpreal& mpreal::operator+=(const uint64_t u){  *this += mpreal(u); MPREAL_MSVC_DEBUGVIEW_CODE; return *this;  }
-inline mpreal& mpreal::operator-=(const int64_t  u){  *this -= mpreal(u); MPREAL_MSVC_DEBUGVIEW_CODE; return *this;  }
-inline mpreal& mpreal::operator-=(const uint64_t u){  *this -= mpreal(u); MPREAL_MSVC_DEBUGVIEW_CODE; return *this;  }
-inline mpreal& mpreal::operator*=(const int64_t  u){  *this *= mpreal(u); MPREAL_MSVC_DEBUGVIEW_CODE; return *this;  }
-inline mpreal& mpreal::operator*=(const uint64_t u){  *this *= mpreal(u); MPREAL_MSVC_DEBUGVIEW_CODE; return *this;  }
-inline mpreal& mpreal::operator/=(const int64_t  u){  *this /= mpreal(u); MPREAL_MSVC_DEBUGVIEW_CODE; return *this;  }
-inline mpreal& mpreal::operator/=(const uint64_t u){  *this /= mpreal(u); MPREAL_MSVC_DEBUGVIEW_CODE; return *this;  }
+inline mpreal& mpreal::operator+=(const int64_t  u){	*this += mpreal(u); MPREAL_MSVC_DEBUGVIEW_CODE; return *this;	}
+inline mpreal& mpreal::operator+=(const uint64_t u){	*this += mpreal(u); MPREAL_MSVC_DEBUGVIEW_CODE; return *this;	}
+inline mpreal& mpreal::operator-=(const int64_t  u){	*this -= mpreal(u); MPREAL_MSVC_DEBUGVIEW_CODE; return *this;	}
+inline mpreal& mpreal::operator-=(const uint64_t u){	*this -= mpreal(u); MPREAL_MSVC_DEBUGVIEW_CODE; return *this;	}
+inline mpreal& mpreal::operator*=(const int64_t  u){	*this *= mpreal(u); MPREAL_MSVC_DEBUGVIEW_CODE; return *this;	}
+inline mpreal& mpreal::operator*=(const uint64_t u){	*this *= mpreal(u); MPREAL_MSVC_DEBUGVIEW_CODE; return *this;	}
+inline mpreal& mpreal::operator/=(const int64_t  u){	*this /= mpreal(u); MPREAL_MSVC_DEBUGVIEW_CODE; return *this;	}
+inline mpreal& mpreal::operator/=(const uint64_t u){	*this /= mpreal(u); MPREAL_MSVC_DEBUGVIEW_CODE; return *this;	}
 #endif 
 
-inline const mpreal mpreal::operator+()const  {  return mpreal(*this); }
+inline const mpreal mpreal::operator+()const	{	return mpreal(*this); }
 
 inline const mpreal operator+(const mpreal& a, const mpreal& b)
 {
-  // prec(a+b) = max(prec(a),prec(b))
-  if(a.get_prec()>b.get_prec()) return mpreal(a) += b;
-  else              return mpreal(b) += a;
+	// prec(a+b) = max(prec(a),prec(b))
+	if(a.get_prec()>b.get_prec()) return mpreal(a) += b;
+	else						  return mpreal(b) += a;
 }
 
 inline mpreal& mpreal::operator++() 
 {
-  return *this += 1;
+	return *this += 1;
 }
 
 inline const mpreal mpreal::operator++ (int)
 {
-  mpreal x(*this);
-  *this += 1;
-  return x;
+	mpreal x(*this);
+	*this += 1;
+	return x;
 }
 
 inline mpreal& mpreal::operator--() 
 {
-  return *this -= 1;
+	return *this -= 1;
 }
 
 inline const mpreal mpreal::operator-- (int)
 {
-  mpreal x(*this);
-  *this -= 1;
-  return x;
+	mpreal x(*this);
+	*this -= 1;
+	return x;
 }
 
 //////////////////////////////////////////////////////////////////////////
 // - Subtraction
 inline mpreal& mpreal::operator-= (const mpreal& v)
 {
-  mpfr_sub(mp,mp,v.mp,default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_sub(mp,mp,v.mp,default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator-=(const mpz_t v)
 {
-  mpfr_sub_z(mp,mp,v,default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_sub_z(mp,mp,v,default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator-=(const mpq_t v)
 {
-  mpfr_sub_q(mp,mp,v,default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_sub_q(mp,mp,v,default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator-=(const long double v)
 {
-  *this -= mpreal(v);  
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;  
+	*this -= mpreal(v);	
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;	
 }
 
 inline mpreal& mpreal::operator-=(const double v)
 {
 #if (MPFR_VERSION >= MPFR_VERSION_NUM(2,4,0))
-  mpfr_sub_d(mp,mp,v,default_rnd);
+	mpfr_sub_d(mp,mp,v,default_rnd);
 #else
-  *this -= mpreal(v);  
+	*this -= mpreal(v);	
 #endif
 
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator-=(const unsigned long int v)
 {
-  mpfr_sub_ui(mp,mp,v,default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_sub_ui(mp,mp,v,default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator-=(const unsigned int v)
 {
-  mpfr_sub_ui(mp,mp,v,default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_sub_ui(mp,mp,v,default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator-=(const long int v)
 {
-  mpfr_sub_si(mp,mp,v,default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_sub_si(mp,mp,v,default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator-=(const int v)
 {
-  mpfr_sub_si(mp,mp,v,default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_sub_si(mp,mp,v,default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline const mpreal mpreal::operator-()const
 {
-  mpreal u(*this);
-  mpfr_neg(u.mp,u.mp,default_rnd);
-  return u;
+	mpreal u(*this);
+	mpfr_neg(u.mp,u.mp,default_rnd);
+	return u;
 }
 
 inline const mpreal operator-(const mpreal& a, const mpreal& b)
 {
-  // prec(a-b) = max(prec(a),prec(b))
-  if(a.getPrecision() >= b.getPrecision())  
-  {
-    return   mpreal(a) -= b;
-  }else{
-    mpreal x(a);
-    x.setPrecision(b.getPrecision());
-    return x -= b;    
-  }
+	// prec(a-b) = max(prec(a),prec(b))
+	if(a.getPrecision() >= b.getPrecision())	
+	{
+		return   mpreal(a) -= b;
+	}else{
+		mpreal x(a);
+		x.setPrecision(b.getPrecision());
+		return x -= b;		
+	}
 }
 
 inline const mpreal operator-(const double  b, const mpreal& a)
 {
 #if (MPFR_VERSION >= MPFR_VERSION_NUM(2,4,0))
-  mpreal x(a);
-  mpfr_d_sub(x.mp,b,a.mp,mpreal::default_rnd);
-  return x;
+	mpreal x(a);
+	mpfr_d_sub(x.mp,b,a.mp,mpreal::default_rnd);
+	return x;
 #else
-  return mpreal(b) -= a;
+	return mpreal(b) -= a;
 #endif
 }
 
 inline const mpreal operator-(const unsigned long int b, const mpreal& a)
 {
-  mpreal x(a);
-  mpfr_ui_sub(x.mp,b,a.mp,mpreal::default_rnd);
-  return x;
+	mpreal x(a);
+	mpfr_ui_sub(x.mp,b,a.mp,mpreal::default_rnd);
+	return x;
 }
 
 inline const mpreal operator-(const unsigned int b, const mpreal& a)
 {
-  mpreal x(a);
-  mpfr_ui_sub(x.mp,b,a.mp,mpreal::default_rnd);
-  return x;
+	mpreal x(a);
+	mpfr_ui_sub(x.mp,b,a.mp,mpreal::default_rnd);
+	return x;
 }
 
 inline const mpreal operator-(const long int b, const mpreal& a)
 {
-  mpreal x(a);
-  mpfr_si_sub(x.mp,b,a.mp,mpreal::default_rnd);
-  return x;
+	mpreal x(a);
+	mpfr_si_sub(x.mp,b,a.mp,mpreal::default_rnd);
+	return x;
 }
 
 inline const mpreal operator-(const int b, const mpreal& a)
 {
-  mpreal x(a);
-  mpfr_si_sub(x.mp,b,a.mp,mpreal::default_rnd);
-  return x;
+	mpreal x(a);
+	mpfr_si_sub(x.mp,b,a.mp,mpreal::default_rnd);
+	return x;
 }
 
 //////////////////////////////////////////////////////////////////////////
 // * Multiplication
 inline mpreal& mpreal::operator*= (const mpreal& v)
 {
-  mpfr_mul(mp,mp,v.mp,default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_mul(mp,mp,v.mp,default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator*=(const mpz_t v)
 {
-  mpfr_mul_z(mp,mp,v,default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_mul_z(mp,mp,v,default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator*=(const mpq_t v)
 {
-  mpfr_mul_q(mp,mp,v,default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_mul_q(mp,mp,v,default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator*=(const long double v)
 {
-  *this *= mpreal(v);  
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;  
+	*this *= mpreal(v);	
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;	
 }
 
 inline mpreal& mpreal::operator*=(const double v)
 {
 #if (MPFR_VERSION >= MPFR_VERSION_NUM(2,4,0))
-  mpfr_mul_d(mp,mp,v,default_rnd);
+	mpfr_mul_d(mp,mp,v,default_rnd);
 #else
-  *this *= mpreal(v);  
+	*this *= mpreal(v);	
 #endif
 
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator*=(const unsigned long int v)
 {
-  mpfr_mul_ui(mp,mp,v,default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_mul_ui(mp,mp,v,default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator*=(const unsigned int v)
 {
-  mpfr_mul_ui(mp,mp,v,default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_mul_ui(mp,mp,v,default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator*=(const long int v)
 {
-  mpfr_mul_si(mp,mp,v,default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_mul_si(mp,mp,v,default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator*=(const int v)
 {
-  mpfr_mul_si(mp,mp,v,default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_mul_si(mp,mp,v,default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline const mpreal operator*(const mpreal& a, const mpreal& b)
 {
-  // prec(a*b) = max(prec(a),prec(b))
-  if(a.getPrecision() >= b.getPrecision())  return   mpreal(a) *= b;
-  else                    return   mpreal(b) *= a;    
+	// prec(a*b) = max(prec(a),prec(b))
+	if(a.getPrecision() >= b.getPrecision())	return   mpreal(a) *= b;
+	else										return   mpreal(b) *= a;		
 }
 
 //////////////////////////////////////////////////////////////////////////
 // / Division
 inline mpreal& mpreal::operator/=(const mpreal& v)
 {
-  mpfr_div(mp,mp,v.mp,default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_div(mp,mp,v.mp,default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator/=(const mpz_t v)
 {
-  mpfr_div_z(mp,mp,v,default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_div_z(mp,mp,v,default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator/=(const mpq_t v)
 {
-  mpfr_div_q(mp,mp,v,default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_div_q(mp,mp,v,default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator/=(const long double v)
 {
-  *this /= mpreal(v);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;  
+	*this /= mpreal(v);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;	
 }
 
 inline mpreal& mpreal::operator/=(const double v)
 {
 #if (MPFR_VERSION >= MPFR_VERSION_NUM(2,4,0))
-  mpfr_div_d(mp,mp,v,default_rnd);
+	mpfr_div_d(mp,mp,v,default_rnd);
 #else
-  *this /= mpreal(v);  
+	*this /= mpreal(v);	
 #endif
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator/=(const unsigned long int v)
 {
-  mpfr_div_ui(mp,mp,v,default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_div_ui(mp,mp,v,default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator/=(const unsigned int v)
 {
-  mpfr_div_ui(mp,mp,v,default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_div_ui(mp,mp,v,default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator/=(const long int v)
 {
-  mpfr_div_si(mp,mp,v,default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_div_si(mp,mp,v,default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator/=(const int v)
 {
-  mpfr_div_si(mp,mp,v,default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_div_si(mp,mp,v,default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline const mpreal operator/(const mpreal& a, const mpreal& b)
 {
-  // prec(a/b) = max(prec(a),prec(b))
-  if(a.getPrecision() >= b.getPrecision())  
-  {
-    return   mpreal(a) /= b;
-  }else{
+	// prec(a/b) = max(prec(a),prec(b))
+	if(a.getPrecision() >= b.getPrecision())	
+	{
+		return   mpreal(a) /= b;
+	}else{
 
-    mpreal x(a);
-    x.setPrecision(b.getPrecision());
-    return x /= b;    
-  }
+		mpreal x(a);
+		x.setPrecision(b.getPrecision());
+		return x /= b;		
+	}
 }
 
 inline const mpreal operator/(const unsigned long int b, const mpreal& a)
 {
-  mpreal x(a);
-  mpfr_ui_div(x.mp,b,a.mp,mpreal::default_rnd);
-  return x;
+	mpreal x(a);
+	mpfr_ui_div(x.mp,b,a.mp,mpreal::default_rnd);
+	return x;
 }
 
 inline const mpreal operator/(const unsigned int b, const mpreal& a)
 {
-  mpreal x(a);
-  mpfr_ui_div(x.mp,b,a.mp,mpreal::default_rnd);
-  return x;
+	mpreal x(a);
+	mpfr_ui_div(x.mp,b,a.mp,mpreal::default_rnd);
+	return x;
 }
 
 inline const mpreal operator/(const long int b, const mpreal& a)
 {
-  mpreal x(a);
-  mpfr_si_div(x.mp,b,a.mp,mpreal::default_rnd);
-  return x;
+	mpreal x(a);
+	mpfr_si_div(x.mp,b,a.mp,mpreal::default_rnd);
+	return x;
 }
 
 inline const mpreal operator/(const int b, const mpreal& a)
 {
-  mpreal x(a);
-  mpfr_si_div(x.mp,b,a.mp,mpreal::default_rnd);
-  return x;
+	mpreal x(a);
+	mpfr_si_div(x.mp,b,a.mp,mpreal::default_rnd);
+	return x;
 }
 
 inline const mpreal operator/(const double  b, const mpreal& a)
 {
 #if (MPFR_VERSION >= MPFR_VERSION_NUM(2,4,0))
-  mpreal x(a);
-  mpfr_d_div(x.mp,b,a.mp,mpreal::default_rnd);
-  return x;
+	mpreal x(a);
+	mpfr_d_div(x.mp,b,a.mp,mpreal::default_rnd);
+	return x;
 #else
-  return mpreal(b) /= a;
+	return mpreal(b) /= a;
 #endif
 }
 
@@ -1242,314 +1242,314 @@ inline const mpreal operator/(const double  b, const mpreal& a)
 // Shifts operators - Multiplication/Division by power of 2
 inline mpreal& mpreal::operator<<=(const unsigned long int u)
 {
-  mpfr_mul_2ui(mp,mp,u,default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_mul_2ui(mp,mp,u,default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator<<=(const unsigned int u)
 {
-  mpfr_mul_2ui(mp,mp,static_cast<unsigned long int>(u),default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_mul_2ui(mp,mp,static_cast<unsigned long int>(u),default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator<<=(const long int u)
 {
-  mpfr_mul_2si(mp,mp,u,default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_mul_2si(mp,mp,u,default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator<<=(const int u)
 {
-  mpfr_mul_2si(mp,mp,static_cast<long int>(u),default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_mul_2si(mp,mp,static_cast<long int>(u),default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator>>=(const unsigned long int u)
 {
-  mpfr_div_2ui(mp,mp,u,default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_div_2ui(mp,mp,u,default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator>>=(const unsigned int u)
 {
-  mpfr_div_2ui(mp,mp,static_cast<unsigned long int>(u),default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_div_2ui(mp,mp,static_cast<unsigned long int>(u),default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator>>=(const long int u)
 {
-  mpfr_div_2si(mp,mp,u,default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_div_2si(mp,mp,u,default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::operator>>=(const int u)
 {
-  mpfr_div_2si(mp,mp,static_cast<long int>(u),default_rnd);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_div_2si(mp,mp,static_cast<long int>(u),default_rnd);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline const mpreal operator<<(const mpreal& v, const unsigned long int k)
 {
-  return mul_2ui(v,k);
+	return mul_2ui(v,k);
 }
 
 inline const mpreal operator<<(const mpreal& v, const unsigned int k)
 {
-  return mul_2ui(v,static_cast<unsigned long int>(k));
+	return mul_2ui(v,static_cast<unsigned long int>(k));
 }
 
 inline const mpreal operator<<(const mpreal& v, const long int k)
 {
-  return mul_2si(v,k);
+	return mul_2si(v,k);
 }
 
 inline const mpreal operator<<(const mpreal& v, const int k)
 {
-  return mul_2si(v,static_cast<long int>(k));
+	return mul_2si(v,static_cast<long int>(k));
 }
 
 inline const mpreal operator>>(const mpreal& v, const unsigned long int k)
 {
-  return div_2ui(v,k);
+	return div_2ui(v,k);
 }
 
 inline const mpreal operator>>(const mpreal& v, const long int k)
 {
-  return div_2si(v,k);
+	return div_2si(v,k);
 }
 
 inline const mpreal operator>>(const mpreal& v, const unsigned int k)
 {
-  return div_2ui(v,static_cast<unsigned long int>(k));
+	return div_2ui(v,static_cast<unsigned long int>(k));
 }
 
 inline const mpreal operator>>(const mpreal& v, const int k)
 {
-  return div_2si(v,static_cast<long int>(k));
+	return div_2si(v,static_cast<long int>(k));
 }
 
 // mul_2ui
 inline const mpreal mul_2ui(const mpreal& v, unsigned long int k, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_mul_2ui(x.mp,v.mp,k,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_mul_2ui(x.mp,v.mp,k,rnd_mode);
+	return x;
 }
 
 // mul_2si
 inline const mpreal mul_2si(const mpreal& v, long int k, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_mul_2si(x.mp,v.mp,k,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_mul_2si(x.mp,v.mp,k,rnd_mode);
+	return x;
 }
 
 inline const mpreal div_2ui(const mpreal& v, unsigned long int k, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_div_2ui(x.mp,v.mp,k,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_div_2ui(x.mp,v.mp,k,rnd_mode);
+	return x;
 }
 
 inline const mpreal div_2si(const mpreal& v, long int k, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_div_2si(x.mp,v.mp,k,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_div_2si(x.mp,v.mp,k,rnd_mode);
+	return x;
 }
 
 //////////////////////////////////////////////////////////////////////////
 //Boolean operators
-inline bool operator >  (const mpreal& a, const mpreal& b){  return (mpfr_greater_p(a.mp,b.mp)    !=0);  }
-inline bool operator >= (const mpreal& a, const mpreal& b){  return (mpfr_greaterequal_p(a.mp,b.mp)  !=0);  }
-inline bool operator <  (const mpreal& a, const mpreal& b){  return (mpfr_less_p(a.mp,b.mp)      !=0);  }
-inline bool operator <= (const mpreal& a, const mpreal& b){  return (mpfr_lessequal_p(a.mp,b.mp)    !=0);  }
-inline bool operator == (const mpreal& a, const mpreal& b){  return (mpfr_equal_p(a.mp,b.mp)      !=0);  }
-inline bool operator != (const mpreal& a, const mpreal& b){  return (mpfr_lessgreater_p(a.mp,b.mp)  !=0);  }
+inline bool operator >	(const mpreal& a, const mpreal& b){	return (mpfr_greater_p(a.mp,b.mp)		!=0);	}
+inline bool operator >= (const mpreal& a, const mpreal& b){	return (mpfr_greaterequal_p(a.mp,b.mp)	!=0);	}
+inline bool operator <  (const mpreal& a, const mpreal& b){	return (mpfr_less_p(a.mp,b.mp)			!=0);	}
+inline bool operator <= (const mpreal& a, const mpreal& b){	return (mpfr_lessequal_p(a.mp,b.mp)		!=0);	}
+inline bool operator == (const mpreal& a, const mpreal& b){	return (mpfr_equal_p(a.mp,b.mp)			!=0);	}
+inline bool operator != (const mpreal& a, const mpreal& b){	return (mpfr_lessgreater_p(a.mp,b.mp)	!=0);	}
 
-inline bool operator == (const mpreal& a, const unsigned long int b  ){  return (mpfr_cmp_ui(a.mp,b) == 0);  }
-inline bool operator == (const mpreal& a, const unsigned int b    ){  return (mpfr_cmp_ui(a.mp,b) == 0);  }
-inline bool operator == (const mpreal& a, const long int b      ){  return (mpfr_cmp_si(a.mp,b) == 0);  }
-inline bool operator == (const mpreal& a, const int b        ){  return (mpfr_cmp_si(a.mp,b) == 0);  }
-inline bool operator == (const mpreal& a, const long double b    ){  return (mpfr_cmp_ld(a.mp,b) == 0);  }
-inline bool operator == (const mpreal& a, const double b      ){  return (mpfr_cmp_d(a.mp,b)  == 0);  }
+inline bool operator == (const mpreal& a, const unsigned long int b	){	return (mpfr_cmp_ui(a.mp,b) == 0);	}
+inline bool operator == (const mpreal& a, const unsigned int b		){	return (mpfr_cmp_ui(a.mp,b) == 0);	}
+inline bool operator == (const mpreal& a, const long int b			){	return (mpfr_cmp_si(a.mp,b) == 0);	}
+inline bool operator == (const mpreal& a, const int b				){	return (mpfr_cmp_si(a.mp,b) == 0);	}
+inline bool operator == (const mpreal& a, const long double b		){	return (mpfr_cmp_ld(a.mp,b) == 0);	}
+inline bool operator == (const mpreal& a, const double b			){	return (mpfr_cmp_d(a.mp,b)  == 0);	}
 
 
-inline bool isnan  (const mpreal& v){  return (mpfr_nan_p(v.mp)    != 0);  }
-inline bool isinf  (const mpreal& v){  return (mpfr_inf_p(v.mp)    != 0);  }
-inline bool isfinite(const mpreal& v){  return (mpfr_number_p(v.mp)    != 0);  }
-inline bool iszero  (const mpreal& v){  return (mpfr_zero_p(v.mp)    != 0);  }
-inline bool isint  (const mpreal& v){  return (mpfr_integer_p(v.mp)  != 0);  }
+inline bool isnan	(const mpreal& v){	return (mpfr_nan_p(v.mp)		!= 0);	}
+inline bool isinf	(const mpreal& v){	return (mpfr_inf_p(v.mp)		!= 0);	}
+inline bool isfinite(const mpreal& v){	return (mpfr_number_p(v.mp)		!= 0);	}
+inline bool iszero	(const mpreal& v){	return (mpfr_zero_p(v.mp)		!= 0);	}
+inline bool isint	(const mpreal& v){	return (mpfr_integer_p(v.mp)	!= 0);	}
 
 #if (MPFR_VERSION >= MPFR_VERSION_NUM(3,0,0))
-inline bool isregular(const mpreal& v){  return (mpfr_regular_p(v.mp));}
+inline bool isregular(const mpreal& v){	return (mpfr_regular_p(v.mp));}
 #endif 
 
 //////////////////////////////////////////////////////////////////////////
 // Type Converters
-inline long        mpreal::toLong()  const  {  return mpfr_get_si(mp,GMP_RNDZ);  }
-inline unsigned long  mpreal::toULong()  const  {  return mpfr_get_ui(mp,GMP_RNDZ);  }
-inline double      mpreal::toDouble()  const  {  return mpfr_get_d(mp,default_rnd);  }
-inline long double    mpreal::toLDouble()  const  {  return mpfr_get_ld(mp,default_rnd);  }
+inline long				mpreal::toLong()	const	{	return mpfr_get_si(mp,GMP_RNDZ);	}
+inline unsigned long	mpreal::toULong()	const	{	return mpfr_get_ui(mp,GMP_RNDZ);	}
+inline double			mpreal::toDouble()	const	{	return mpfr_get_d(mp,default_rnd);	}
+inline long double		mpreal::toLDouble()	const	{	return mpfr_get_ld(mp,default_rnd);	}
 
 #if defined (MPREAL_HAVE_INT64_SUPPORT)
-inline int64_t   mpreal::toInt64()  const{  return mpfr_get_sj(mp,GMP_RNDZ);  }
-inline uint64_t   mpreal::toUInt64()  const{  return mpfr_get_uj(mp,GMP_RNDZ);  }
+inline int64_t	 mpreal::toInt64()	const{	return mpfr_get_sj(mp,GMP_RNDZ);	}
+inline uint64_t	 mpreal::toUInt64()	const{	return mpfr_get_uj(mp,GMP_RNDZ);	}
 #endif
 
-inline ::mpfr_ptr    mpreal::mpfr_ptr()      {  return mp;  }
-inline ::mpfr_srcptr  mpreal::mpfr_srcptr() const  {  return const_cast< ::mpfr_srcptr >(mp);  }
+inline ::mpfr_ptr		mpreal::mpfr_ptr()			{	return mp;	}
+inline ::mpfr_srcptr	mpreal::mpfr_srcptr() const	{	return const_cast< ::mpfr_srcptr >(mp);	}
 
 //////////////////////////////////////////////////////////////////////////
-//   Bits - decimal digits relation
-//    bits   = ceil(digits*log[2](10))
-//    digits = floor(bits*log[10](2))
+// 	Bits - decimal digits relation
+//		bits   = ceil(digits*log[2](10))
+//		digits = floor(bits*log[10](2))
 
 inline mp_prec_t digits2bits(int d)
 {
-  const double LOG2_10 = 3.3219280948873624;
+	const double LOG2_10 = 3.3219280948873624;
 
-  d = 10>d?10:d;
+	d = 10>d?10:d;
 
-  return (mp_prec_t)std::ceil((d)*LOG2_10);
+	return (mp_prec_t)std::ceil((d)*LOG2_10);
 }
 
 inline int bits2digits(mp_prec_t b)
 {
-  const double LOG10_2 = 0.30102999566398119;
+	const double LOG10_2 = 0.30102999566398119;
 
-  b = 34>b?34:b;
+	b = 34>b?34:b;
 
-  return (int)std::floor((b)*LOG10_2);
+	return (int)std::floor((b)*LOG10_2);
 }
 
 //////////////////////////////////////////////////////////////////////////
 // Set/Get number properties
 inline int sgn(const mpreal& v)
 {
-  int r = mpfr_signbit(v.mp);
-  return (r>0?-1:1);
+	int r = mpfr_signbit(v.mp);
+	return (r>0?-1:1);
 }
 
 inline mpreal& mpreal::setSign(int sign, mp_rnd_t RoundingMode)
 {
-  mpfr_setsign(mp,mp,(sign<0?1:0),RoundingMode);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_setsign(mp,mp,(sign<0?1:0),RoundingMode);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline int mpreal::getPrecision() const
 {
-  return mpfr_get_prec(mp);
+	return mpfr_get_prec(mp);
 }
 
 inline mpreal& mpreal::setPrecision(int Precision, mp_rnd_t RoundingMode)
 {
-  mpfr_prec_round(mp,Precision, RoundingMode);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_prec_round(mp,Precision, RoundingMode);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mpreal& mpreal::setInf(int sign) 
 { 
-  mpfr_set_inf(mp,sign);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
-}  
+	mpfr_set_inf(mp,sign);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
+}	
 
 inline mpreal& mpreal::setNan() 
 {
-  mpfr_set_nan(mp);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_set_nan(mp);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
-inline mpreal&  mpreal::setZero(int sign)
+inline mpreal&	mpreal::setZero(int sign)
 {
-  mpfr_set_zero(mp,sign);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return *this;
+	mpfr_set_zero(mp,sign);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return *this;
 }
 
 inline mp_prec_t mpreal::get_prec() const
 {
-  return mpfr_get_prec(mp);
+	return mpfr_get_prec(mp);
 }
 
 inline void mpreal::set_prec(mp_prec_t prec, mp_rnd_t rnd_mode)
 {
-  mpfr_prec_round(mp,prec,rnd_mode);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
+	mpfr_prec_round(mp,prec,rnd_mode);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
 }
 
 inline mp_exp_t mpreal::get_exp ()
 {
-  return mpfr_get_exp(mp);
+	return mpfr_get_exp(mp);
 }
 
 inline int mpreal::set_exp (mp_exp_t e)
 {
-  int x = mpfr_set_exp(mp, e);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return x;
+	int x = mpfr_set_exp(mp, e);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return x;
 }
 
 inline const mpreal frexp(const mpreal& v, mp_exp_t* exp)
 {
-  mpreal x(v);
-  *exp = x.get_exp();
-  x.set_exp(0);
-  return x;
+	mpreal x(v);
+	*exp = x.get_exp();
+	x.set_exp(0);
+	return x;
 }
 
 inline const mpreal ldexp(const mpreal& v, mp_exp_t exp)
 {
-  mpreal x(v);
+	mpreal x(v);
 
-  // rounding is not important since we just increasing the exponent
-  mpfr_mul_2si(x.mp,x.mp,exp,mpreal::default_rnd); 
-  return x;
+	// rounding is not important since we just increasing the exponent
+	mpfr_mul_2si(x.mp,x.mp,exp,mpreal::default_rnd); 
+	return x;
 }
 
 inline const mpreal machine_epsilon(mp_prec_t prec)
 {
-  // the smallest eps such that 1.0+eps != 1.0
-  // depends (of cause) on the precision
-  return machine_epsilon(mpreal(1,prec));
+	// the smallest eps such that 1.0+eps != 1.0
+	// depends (of cause) on the precision
+	return machine_epsilon(mpreal(1,prec));
 }
 
 inline const mpreal machine_epsilon(const mpreal& x)
-{  
-  if( x < 0)
-  {
-    return nextabove(-x)+x;
-  }else{
-    return nextabove(x)-x;
-  }
+{	
+	if( x < 0)
+	{
+		return nextabove(-x)+x;
+	}else{
+		return nextabove(x)-x;
+	}
 }
 
 inline const mpreal mpreal_min(mp_prec_t prec)
 {
-  // min = 1/2*2^emin = 2^(emin-1)
+	// min = 1/2*2^emin = 2^(emin-1)
 
-  return mpreal(1,prec) << mpreal::get_emin()-1;
+	return mpreal(1,prec) << mpreal::get_emin()-1;
 }
 
 inline const mpreal mpreal_max(mp_prec_t prec)
 {
-  // max = (1-eps)*2^emax, assume eps = 0?, 
-  // and use emax-1 to prevent value to be +inf
-  // max = 2^(emax-1)
+	// max = (1-eps)*2^emax, assume eps = 0?, 
+	// and use emax-1 to prevent value to be +inf
+	// max = 2^(emax-1)
 
-  return mpreal(1,prec) << mpreal::get_emax()-1;
+	return mpreal(1,prec) << mpreal::get_emax()-1;
 }
 
 inline bool isEqualUlps(const mpreal& a, const mpreal& b, int maxUlps)
@@ -1562,74 +1562,74 @@ inline bool isEqualUlps(const mpreal& a, const mpreal& b, int maxUlps)
 
 inline bool isEqualFuzzy(const mpreal& a, const mpreal& b, const mpreal& eps)
 {
-  return abs(a - b) <= (min)(abs(a), abs(b)) * eps;
+	return abs(a - b) <= (min)(abs(a), abs(b)) * eps;
 }
 
 inline bool isEqualFuzzy(const mpreal& a, const mpreal& b)
 {
-  return isEqualFuzzy(a,b,machine_epsilon((std::min)(abs(a), abs(b))));
+	return isEqualFuzzy(a,b,machine_epsilon((std::min)(abs(a), abs(b))));
 }
 
 inline const mpreal modf(const mpreal& v, mpreal& n)
 {
-  mpreal frac(v);
+	mpreal frac(v);
 
-  // rounding is not important since we are using the same number
-  mpfr_frac(frac.mp,frac.mp,mpreal::default_rnd);  
-  mpfr_trunc(n.mp,v.mp);
-  return frac;
+	// rounding is not important since we are using the same number
+	mpfr_frac(frac.mp,frac.mp,mpreal::default_rnd);	
+	mpfr_trunc(n.mp,v.mp);
+	return frac;
 }
 
 inline int mpreal::check_range (int t, mp_rnd_t rnd_mode)
 {
-  return mpfr_check_range(mp,t,rnd_mode);
+	return mpfr_check_range(mp,t,rnd_mode);
 }
 
 inline int mpreal::subnormalize (int t,mp_rnd_t rnd_mode)
 {
-  int r = mpfr_subnormalize(mp,t,rnd_mode);
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-  return r;
+	int r = mpfr_subnormalize(mp,t,rnd_mode);
+	MPREAL_MSVC_DEBUGVIEW_CODE;
+	return r;
 }
 
 inline mp_exp_t mpreal::get_emin (void)
 {
-  return mpfr_get_emin();
+	return mpfr_get_emin();
 }
 
 inline int mpreal::set_emin (mp_exp_t exp)
 {
-  return mpfr_set_emin(exp);
+	return mpfr_set_emin(exp);
 }
 
 inline mp_exp_t mpreal::get_emax (void)
 {
-  return mpfr_get_emax();
+	return mpfr_get_emax();
 }
 
 inline int mpreal::set_emax (mp_exp_t exp)
 {
-  return mpfr_set_emax(exp);
+	return mpfr_set_emax(exp);
 }
 
 inline mp_exp_t mpreal::get_emin_min (void)
 {
-  return mpfr_get_emin_min();
+	return mpfr_get_emin_min();
 }
 
 inline mp_exp_t mpreal::get_emin_max (void)
 {
-  return mpfr_get_emin_max();
+	return mpfr_get_emin_max();
 }
 
 inline mp_exp_t mpreal::get_emax_min (void)
 {
-  return mpfr_get_emax_min();
+	return mpfr_get_emax_min();
 }
 
 inline mp_exp_t mpreal::get_emax_max (void)
 {
-  return mpfr_get_emax_max();
+	return mpfr_get_emax_max();
 }
 
 //////////////////////////////////////////////////////////////////////////
@@ -1637,460 +1637,460 @@ inline mp_exp_t mpreal::get_emax_max (void)
 //////////////////////////////////////////////////////////////////////////
 inline const mpreal sqr(const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_sqr(x.mp,x.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_sqr(x.mp,x.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal sqrt(const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_sqrt(x.mp,x.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_sqrt(x.mp,x.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal sqrt(const unsigned long int v, mp_rnd_t rnd_mode)
 {
-  mpreal x;
-  mpfr_sqrt_ui(x.mp,v,rnd_mode);
-  return x;
+	mpreal x;
+	mpfr_sqrt_ui(x.mp,v,rnd_mode);
+	return x;
 }
 
 inline const mpreal sqrt(const unsigned int v, mp_rnd_t rnd_mode)
 {
-  return sqrt(static_cast<unsigned long int>(v),rnd_mode);
+	return sqrt(static_cast<unsigned long int>(v),rnd_mode);
 }
 
 inline const mpreal sqrt(const long int v, mp_rnd_t rnd_mode)
 {
-  if (v>=0)  return sqrt(static_cast<unsigned long int>(v),rnd_mode);
-  else    return mpreal().setNan(); // NaN  
+	if (v>=0)	return sqrt(static_cast<unsigned long int>(v),rnd_mode);
+	else		return mpreal().setNan(); // NaN  
 }
 
 inline const mpreal sqrt(const int v, mp_rnd_t rnd_mode)
 {
-  if (v>=0)  return sqrt(static_cast<unsigned long int>(v),rnd_mode);
-  else    return mpreal().setNan(); // NaN
+	if (v>=0)	return sqrt(static_cast<unsigned long int>(v),rnd_mode);
+	else		return mpreal().setNan(); // NaN
 }
 
 inline const mpreal sqrt(const long double v, mp_rnd_t rnd_mode)
 {
-  return sqrt(mpreal(v),rnd_mode);
+	return sqrt(mpreal(v),rnd_mode);
 }
 
 inline const mpreal sqrt(const double v, mp_rnd_t rnd_mode)
 {
-  return sqrt(mpreal(v),rnd_mode);
+	return sqrt(mpreal(v),rnd_mode);
 }
 
 inline const mpreal cbrt(const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_cbrt(x.mp,x.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_cbrt(x.mp,x.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal root(const mpreal& v, unsigned long int k, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_root(x.mp,x.mp,k,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_root(x.mp,x.mp,k,rnd_mode);
+	return x;
 }
 
 inline const mpreal fabs(const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_abs(x.mp,x.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_abs(x.mp,x.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal abs(const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_abs(x.mp,x.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_abs(x.mp,x.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal dim(const mpreal& a, const mpreal& b, mp_rnd_t rnd_mode)
 {
-  mpreal x(a);
-  mpfr_dim(x.mp,a.mp,b.mp,rnd_mode);
-  return x;
+	mpreal x(a);
+	mpfr_dim(x.mp,a.mp,b.mp,rnd_mode);
+	return x;
 }
 
 inline int cmpabs(const mpreal& a,const mpreal& b)
 {
-  return mpfr_cmpabs(a.mp,b.mp);
+	return mpfr_cmpabs(a.mp,b.mp);
 }
 
 inline const mpreal log  (const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_log(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_log(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal log2(const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_log2(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_log2(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal log10(const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_log10(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_log10(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal exp(const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_exp(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_exp(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal exp2(const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_exp2(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_exp2(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal exp10(const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_exp10(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_exp10(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal cos(const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_cos(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_cos(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal sin(const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_sin(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_sin(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal tan(const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_tan(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_tan(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal sec(const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_sec(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_sec(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal csc(const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_csc(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_csc(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal cot(const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_cot(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_cot(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline int sin_cos(mpreal& s, mpreal& c, const mpreal& v, mp_rnd_t rnd_mode)
 {
-  return mpfr_sin_cos(s.mp,c.mp,v.mp,rnd_mode);
+	return mpfr_sin_cos(s.mp,c.mp,v.mp,rnd_mode);
 }
 
 inline const mpreal acos (const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_acos(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_acos(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal asin (const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_asin(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_asin(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal atan (const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_atan(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_atan(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal acot (const mpreal& v, mp_rnd_t rnd_mode)
 {
-  return atan(1/v, rnd_mode);
+	return atan(1/v, rnd_mode);
 }
 
 inline const mpreal asec (const mpreal& v, mp_rnd_t rnd_mode)
 {
-  return acos(1/v, rnd_mode);
+	return acos(1/v, rnd_mode);
 }
 
 inline const mpreal acsc (const mpreal& v, mp_rnd_t rnd_mode)
 {
-  return asin(1/v, rnd_mode);
+	return asin(1/v, rnd_mode);
 }
 
 inline const mpreal acoth (const mpreal& v, mp_rnd_t rnd_mode)
 {
-  return atanh(1/v, rnd_mode);
+	return atanh(1/v, rnd_mode);
 }
 
 inline const mpreal asech (const mpreal& v, mp_rnd_t rnd_mode)
 {
-  return acosh(1/v, rnd_mode);
+	return acosh(1/v, rnd_mode);
 }
 
 inline const mpreal acsch (const mpreal& v, mp_rnd_t rnd_mode)
 {
-  return asinh(1/v, rnd_mode);
+	return asinh(1/v, rnd_mode);
 }
 
 inline const mpreal atan2 (const mpreal& y, const mpreal& x, mp_rnd_t rnd_mode)
 {
-  mpreal a;
-  mp_prec_t yp, xp;
+	mpreal a;
+	mp_prec_t yp, xp;
 
-  yp = y.get_prec(); 
-  xp = x.get_prec(); 
+	yp = y.get_prec(); 
+	xp = x.get_prec(); 
 
-  a.set_prec(yp>xp?yp:xp);
+	a.set_prec(yp>xp?yp:xp);
 
-  mpfr_atan2(a.mp, y.mp, x.mp, rnd_mode);
+	mpfr_atan2(a.mp, y.mp, x.mp, rnd_mode);
 
-  return a;
+	return a;
 }
 
 inline const mpreal cosh (const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_cosh(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_cosh(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal sinh (const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_sinh(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_sinh(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal tanh (const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_tanh(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_tanh(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal sech (const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_sech(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_sech(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal csch (const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_csch(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_csch(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal coth (const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_coth(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_coth(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal acosh  (const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_acosh(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_acosh(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal asinh  (const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_asinh(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_asinh(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal atanh  (const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_atanh(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_atanh(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal hypot (const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode)
 {
-  mpreal a;
-  mp_prec_t yp, xp;
+	mpreal a;
+	mp_prec_t yp, xp;
 
-  yp = y.get_prec(); 
-  xp = x.get_prec(); 
+	yp = y.get_prec(); 
+	xp = x.get_prec(); 
 
-  a.set_prec(yp>xp?yp:xp);
+	a.set_prec(yp>xp?yp:xp);
 
-  mpfr_hypot(a.mp, x.mp, y.mp, rnd_mode);
+	mpfr_hypot(a.mp, x.mp, y.mp, rnd_mode);
 
-  return a;
+	return a;
 }
 
 inline const mpreal remainder (const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode)
-{  
-  mpreal a;
-  mp_prec_t yp, xp;
+{	
+	mpreal a;
+	mp_prec_t yp, xp;
 
-  yp = y.get_prec(); 
-  xp = x.get_prec(); 
+	yp = y.get_prec(); 
+	xp = x.get_prec(); 
 
-  a.set_prec(yp>xp?yp:xp);
+	a.set_prec(yp>xp?yp:xp);
 
-  mpfr_remainder(a.mp, x.mp, y.mp, rnd_mode);
+	mpfr_remainder(a.mp, x.mp, y.mp, rnd_mode);
 
-  return a;
+	return a;
 }
 
 inline const mpreal fac_ui (unsigned long int v, mp_prec_t prec, mp_rnd_t rnd_mode)
 {
-  mpreal x(0,prec);
-  mpfr_fac_ui(x.mp,v,rnd_mode);
-  return x;
+	mpreal x(0,prec);
+	mpfr_fac_ui(x.mp,v,rnd_mode);
+	return x;
 }
 
 inline const mpreal log1p  (const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_log1p(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_log1p(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal expm1  (const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_expm1(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_expm1(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal eint   (const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_eint(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_eint(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal gamma (const mpreal& x, mp_rnd_t rnd_mode)
 {
-  mpreal FunctionValue(x);
+	mpreal FunctionValue(x);
 
-  // x < 0: gamma(-x) = -pi/(x * gamma(x) * sin(pi*x))
+	// x < 0: gamma(-x) = -pi/(x * gamma(x) * sin(pi*x))
 
-  mpfr_gamma(FunctionValue.mp, x.mp, rnd_mode);
+	mpfr_gamma(FunctionValue.mp, x.mp, rnd_mode);
 
-  return FunctionValue;
+	return FunctionValue;
 }
 
 inline const mpreal lngamma (const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_lngamma(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_lngamma(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal lgamma (const mpreal& v, int *signp, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  int tsignp;
+	mpreal x(v);
+	int tsignp;
 
-  if(signp)
-    mpfr_lgamma(x.mp,signp,v.mp,rnd_mode);
-  else
-    mpfr_lgamma(x.mp,&tsignp,v.mp,rnd_mode);
+	if(signp)
+		mpfr_lgamma(x.mp,signp,v.mp,rnd_mode);
+	else
+		mpfr_lgamma(x.mp,&tsignp,v.mp,rnd_mode);
 
-  return x;
+	return x;
 }
 
 inline const mpreal zeta (const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_zeta(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_zeta(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal erf (const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_erf(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_erf(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal erfc (const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_erfc(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_erfc(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal besselj0 (const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_j0(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_j0(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal besselj1 (const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_j1(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_j1(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal besseljn (long n, const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_jn(x.mp,n,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_jn(x.mp,n,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal bessely0 (const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_y0(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_y0(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal bessely1 (const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_y1(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_y1(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal besselyn (long n, const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_yn(x.mp,n,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_yn(x.mp,n,v.mp,rnd_mode);
+	return x;
 }
 
 //////////////////////////////////////////////////////////////////////////
@@ -2099,36 +2099,36 @@ inline const mpreal besselyn (long n, const mpreal& v, mp_rnd_t rnd_mode)
 
 inline int sinh_cosh(mpreal& s, mpreal& c, const mpreal& v, mp_rnd_t rnd_mode)
 {
-  return mpfr_sinh_cosh(s.mp,c.mp,v.mp,rnd_mode);
+	return mpfr_sinh_cosh(s.mp,c.mp,v.mp,rnd_mode);
 }
 
 inline const mpreal li2(const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_li2(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_li2(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal fmod (const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode)
 {
-  mpreal a;
-  mp_prec_t yp, xp;
+	mpreal a;
+	mp_prec_t yp, xp;
 
-  yp = y.get_prec(); 
-  xp = x.get_prec(); 
+	yp = y.get_prec(); 
+	xp = x.get_prec(); 
 
-  a.set_prec(yp>xp?yp:xp);
+	a.set_prec(yp>xp?yp:xp);
 
-  mpfr_fmod(a.mp, x.mp, y.mp, rnd_mode);
+	mpfr_fmod(a.mp, x.mp, y.mp, rnd_mode);
 
-  return a;
+	return a;
 }
 
 inline const mpreal rec_sqrt(const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_rec_sqrt(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_rec_sqrt(x.mp,v.mp,rnd_mode);
+	return x;
 }
 #endif //  MPFR 2.4.0 Specifics
 
@@ -2138,16 +2138,16 @@ inline const mpreal rec_sqrt(const mpreal& v, mp_rnd_t rnd_mode)
 
 inline const mpreal digamma(const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_digamma(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_digamma(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal ai(const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_ai(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_ai(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 #endif // MPFR 3.0.0 Specifics
@@ -2156,192 +2156,192 @@ inline const mpreal ai(const mpreal& v, mp_rnd_t rnd_mode)
 // Constants
 inline const mpreal const_log2 (mp_prec_t prec, mp_rnd_t rnd_mode)
 {
-  mpreal x;
-  x.set_prec(prec);
-  mpfr_const_log2(x.mp,rnd_mode);
-  return x;
+	mpreal x;
+	x.set_prec(prec);
+	mpfr_const_log2(x.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal const_pi (mp_prec_t prec, mp_rnd_t rnd_mode)
 {
-  mpreal x;
-  x.set_prec(prec);
-  mpfr_const_pi(x.mp,rnd_mode);
-  return x;
+	mpreal x;
+	x.set_prec(prec);
+	mpfr_const_pi(x.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal const_euler (mp_prec_t prec, mp_rnd_t rnd_mode)
 {
-  mpreal x;
-  x.set_prec(prec);
-  mpfr_const_euler(x.mp,rnd_mode);
-  return x;
+	mpreal x;
+	x.set_prec(prec);
+	mpfr_const_euler(x.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal const_catalan (mp_prec_t prec, mp_rnd_t rnd_mode)
 {
-  mpreal x;
-  x.set_prec(prec);
-  mpfr_const_catalan(x.mp,rnd_mode);
-  return x;
+	mpreal x;
+	x.set_prec(prec);
+	mpfr_const_catalan(x.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal const_infinity (int sign, mp_prec_t prec, mp_rnd_t rnd_mode)
 {
-  mpreal x;
-  x.set_prec(prec,rnd_mode);
-  mpfr_set_inf(x.mp, sign);
-  return x;
+	mpreal x;
+	x.set_prec(prec,rnd_mode);
+	mpfr_set_inf(x.mp, sign);
+	return x;
 }
 
 //////////////////////////////////////////////////////////////////////////
 // Integer Related Functions
 inline const mpreal rint(const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_rint(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_rint(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal ceil(const mpreal& v)
 {
-  mpreal x(v);
-  mpfr_ceil(x.mp,v.mp);
-  return x;
+	mpreal x(v);
+	mpfr_ceil(x.mp,v.mp);
+	return x;
 
 }
 
 inline const mpreal floor(const mpreal& v)
 {
-  mpreal x(v);
-  mpfr_floor(x.mp,v.mp);
-  return x;
+	mpreal x(v);
+	mpfr_floor(x.mp,v.mp);
+	return x;
 }
 
 inline const mpreal round(const mpreal& v)
 {
-  mpreal x(v);
-  mpfr_round(x.mp,v.mp);
-  return x;
+	mpreal x(v);
+	mpfr_round(x.mp,v.mp);
+	return x;
 }
 
 inline const mpreal trunc(const mpreal& v)
 {
-  mpreal x(v);
-  mpfr_trunc(x.mp,v.mp);
-  return x;
+	mpreal x(v);
+	mpfr_trunc(x.mp,v.mp);
+	return x;
 }
 
 inline const mpreal rint_ceil (const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_rint_ceil(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_rint_ceil(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal rint_floor(const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_rint_floor(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_rint_floor(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal rint_round(const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_rint_round(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_rint_round(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal rint_trunc(const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_rint_trunc(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_rint_trunc(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal frac (const mpreal& v, mp_rnd_t rnd_mode)
 {
-  mpreal x(v);
-  mpfr_frac(x.mp,v.mp,rnd_mode);
-  return x;
+	mpreal x(v);
+	mpfr_frac(x.mp,v.mp,rnd_mode);
+	return x;
 }
 
 //////////////////////////////////////////////////////////////////////////
 // Miscellaneous Functions
 inline void swap(mpreal& a, mpreal& b) 
 {
-  mpfr_swap(a.mp,b.mp);
+	mpfr_swap(a.mp,b.mp);
 }
 
 inline const mpreal (max)(const mpreal& x, const mpreal& y)
 {
-  return (x>y?x:y);
+	return (x>y?x:y);
 }
 
 inline const mpreal (min)(const mpreal& x, const mpreal& y)
 {
-  return (x<y?x:y);
+	return (x<y?x:y);
 }
 
 inline const mpreal fmax(const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode)
 {
-  mpreal a;
-  mpfr_max(a.mp,x.mp,y.mp,rnd_mode);
-  return a;
+	mpreal a;
+	mpfr_max(a.mp,x.mp,y.mp,rnd_mode);
+	return a;
 }
 
 inline const mpreal fmin(const mpreal& x, const mpreal& y,  mp_rnd_t rnd_mode)
 {
-  mpreal a;
-  mpfr_min(a.mp,x.mp,y.mp,rnd_mode);
-  return a;
+	mpreal a;
+	mpfr_min(a.mp,x.mp,y.mp,rnd_mode);
+	return a;
 }
 
 inline const mpreal nexttoward (const mpreal& x, const mpreal& y)
 {
-  mpreal a(x);
-  mpfr_nexttoward(a.mp,y.mp);
-  return a;
+	mpreal a(x);
+	mpfr_nexttoward(a.mp,y.mp);
+	return a;
 }
 
 inline const mpreal nextabove  (const mpreal& x)
 {
-  mpreal a(x);
-  mpfr_nextabove(a.mp);
-  return a;
+	mpreal a(x);
+	mpfr_nextabove(a.mp);
+	return a;
 }
 
 inline const mpreal nextbelow  (const mpreal& x)
 {
-  mpreal a(x);
-  mpfr_nextbelow(a.mp);
-  return a;
+	mpreal a(x);
+	mpfr_nextbelow(a.mp);
+	return a;
 }
 
 inline const mpreal urandomb (gmp_randstate_t& state)
 {
-  mpreal x;
-  mpfr_urandomb(x.mp,state);
-  return x;
+	mpreal x;
+	mpfr_urandomb(x.mp,state);
+	return x;
 }
 
 #if (MPFR_VERSION >= MPFR_VERSION_NUM(3,0,0))
 // use gmp_randinit_default() to init state, gmp_randclear() to clear
 inline const mpreal urandom (gmp_randstate_t& state, mp_rnd_t rnd_mode)
 {
-  mpreal x;
-  mpfr_urandom(x.mp,state,rnd_mode);
-  return x;
+	mpreal x;
+	mpfr_urandom(x.mp,state,rnd_mode);
+	return x;
 }
 #endif 
 
 #if (MPFR_VERSION <= MPFR_VERSION_NUM(2,4,2))
 inline const mpreal random2 (mp_size_t size, mp_exp_t exp)
 {
-  mpreal x;
-  mpfr_random2(x.mp,size,exp);
-  return x;
+	mpreal x;
+	mpfr_random2(x.mp,size,exp);
+	return x;
 }
 #endif
 
@@ -2353,22 +2353,22 @@ inline const mpreal random(unsigned int seed)
 {
 
 #if (MPFR_VERSION >= MPFR_VERSION_NUM(3,0,0))
-  static gmp_randstate_t state;
-  static bool isFirstTime = true;
+	static gmp_randstate_t state;
+	static bool isFirstTime = true;
 
-  if(isFirstTime)
-  {
-    gmp_randinit_default(state);
-    gmp_randseed_ui(state,0);
-    isFirstTime = false;
-  }
+	if(isFirstTime)
+	{
+		gmp_randinit_default(state);
+		gmp_randseed_ui(state,0);
+		isFirstTime = false;
+	}
 
-  if(seed != 0)  gmp_randseed_ui(state,seed);
+	if(seed != 0)	gmp_randseed_ui(state,seed);
 
-  return mpfr::urandom(state);
+	return mpfr::urandom(state);
 #else
-  if(seed != 0)  std::srand(seed);
-  return mpfr::mpreal(std::rand()/(double)RAND_MAX);
+	if(seed != 0)	std::srand(seed);
+	return mpfr::mpreal(std::rand()/(double)RAND_MAX);
 #endif
 
 }
@@ -2377,346 +2377,346 @@ inline const mpreal random(unsigned int seed)
 // Set/Get global properties
 inline void mpreal::set_default_prec(mp_prec_t prec)
 { 
-  default_prec = prec;
-  mpfr_set_default_prec(prec); 
+	default_prec = prec;
+	mpfr_set_default_prec(prec); 
 }
 
 inline mp_prec_t mpreal::get_default_prec()
 { 
-  return (mpfr_get_default_prec)();
+	return (mpfr_get_default_prec)();
 }
 
 inline void mpreal::set_default_base(int base)
 { 
-  default_base = base;
+	default_base = base;
 }
 
 inline int mpreal::get_default_base()
 { 
-  return default_base;
+	return default_base;
 }
 
 inline void mpreal::set_default_rnd(mp_rnd_t rnd_mode)
 { 
-  default_rnd =  rnd_mode;
-  mpfr_set_default_rounding_mode(rnd_mode); 
+	default_rnd =  rnd_mode;
+	mpfr_set_default_rounding_mode(rnd_mode); 
 }
 
 inline mp_rnd_t mpreal::get_default_rnd()
 { 
-  return static_cast<mp_rnd_t>((mpfr_get_default_rounding_mode)());
+	return static_cast<mp_rnd_t>((mpfr_get_default_rounding_mode)());
 }
 
 inline void mpreal::set_double_bits(int dbits)
 { 
-  double_bits = dbits;
+	double_bits = dbits;
 }
 
 inline int mpreal::get_double_bits()
 { 
-  return double_bits;
+	return double_bits;
 }
 
 inline bool mpreal::fits_in_bits(double x, int n)
 {   
-  int i;
-  double t;
-  return IsInf(x) || (std::modf ( std::ldexp ( std::frexp ( x, &i ), n ), &t ) == 0.0);
+	int i;
+	double t;
+	return IsInf(x) || (std::modf ( std::ldexp ( std::frexp ( x, &i ), n ), &t ) == 0.0);
 }
 
 inline const mpreal pow(const mpreal& a, const mpreal& b, mp_rnd_t rnd_mode)
 {
-  mpreal x(a);
-  mpfr_pow(x.mp,x.mp,b.mp,rnd_mode);
-  return x;
+	mpreal x(a);
+	mpfr_pow(x.mp,x.mp,b.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal pow(const mpreal& a, const mpz_t b, mp_rnd_t rnd_mode)
 {
-  mpreal x(a);
-  mpfr_pow_z(x.mp,x.mp,b,rnd_mode);
-  return x;
+	mpreal x(a);
+	mpfr_pow_z(x.mp,x.mp,b,rnd_mode);
+	return x;
 }
 
 inline const mpreal pow(const mpreal& a, const unsigned long int b, mp_rnd_t rnd_mode)
 {
-  mpreal x(a);
-  mpfr_pow_ui(x.mp,x.mp,b,rnd_mode);
-  return x;
+	mpreal x(a);
+	mpfr_pow_ui(x.mp,x.mp,b,rnd_mode);
+	return x;
 }
 
 inline const mpreal pow(const mpreal& a, const unsigned int b, mp_rnd_t rnd_mode)
 {
-  return pow(a,static_cast<unsigned long int>(b),rnd_mode);
+	return pow(a,static_cast<unsigned long int>(b),rnd_mode);
 }
 
 inline const mpreal pow(const mpreal& a, const long int b, mp_rnd_t rnd_mode)
 {
-  mpreal x(a);
-  mpfr_pow_si(x.mp,x.mp,b,rnd_mode);
-  return x;
+	mpreal x(a);
+	mpfr_pow_si(x.mp,x.mp,b,rnd_mode);
+	return x;
 }
 
 inline const mpreal pow(const mpreal& a, const int b, mp_rnd_t rnd_mode)
 {
-  return pow(a,static_cast<long int>(b),rnd_mode);
+	return pow(a,static_cast<long int>(b),rnd_mode);
 }
 
 inline const mpreal pow(const mpreal& a, const long double b, mp_rnd_t rnd_mode)
 {
-  return pow(a,mpreal(b),rnd_mode);
+	return pow(a,mpreal(b),rnd_mode);
 }
 
 inline const mpreal pow(const mpreal& a, const double b, mp_rnd_t rnd_mode)
 {
-  return pow(a,mpreal(b),rnd_mode);
+	return pow(a,mpreal(b),rnd_mode);
 }
 
 inline const mpreal pow(const unsigned long int a, const mpreal& b, mp_rnd_t rnd_mode)
 {
-  mpreal x(a);
-  mpfr_ui_pow(x.mp,a,b.mp,rnd_mode);
-  return x;
+	mpreal x(a);
+	mpfr_ui_pow(x.mp,a,b.mp,rnd_mode);
+	return x;
 }
 
 inline const mpreal pow(const unsigned int a, const mpreal& b, mp_rnd_t rnd_mode)
 {
-  return pow(static_cast<unsigned long int>(a),b,rnd_mode);
+	return pow(static_cast<unsigned long int>(a),b,rnd_mode);
 }
 
 inline const mpreal pow(const long int a, const mpreal& b, mp_rnd_t rnd_mode)
 {
-  if (a>=0)   return pow(static_cast<unsigned long int>(a),b,rnd_mode);
-  else    return pow(mpreal(a),b,rnd_mode);
+	if (a>=0) 	return pow(static_cast<unsigned long int>(a),b,rnd_mode);
+	else		return pow(mpreal(a),b,rnd_mode);
 }
 
 inline const mpreal pow(const int a, const mpreal& b, mp_rnd_t rnd_mode)
 {
-  if (a>=0)   return pow(static_cast<unsigned long int>(a),b,rnd_mode);
-  else    return pow(mpreal(a),b,rnd_mode);
+	if (a>=0) 	return pow(static_cast<unsigned long int>(a),b,rnd_mode);
+	else		return pow(mpreal(a),b,rnd_mode);
 }
 
 inline const mpreal pow(const long double a, const mpreal& b, mp_rnd_t rnd_mode)
 {
-  return pow(mpreal(a),b,rnd_mode);
+	return pow(mpreal(a),b,rnd_mode);
 }
 
 inline const mpreal pow(const double a, const mpreal& b, mp_rnd_t rnd_mode)
 {
-  return pow(mpreal(a),b,rnd_mode);
+	return pow(mpreal(a),b,rnd_mode);
 }
 
 // pow unsigned long int
 inline const mpreal pow(const unsigned long int a, const unsigned long int b, mp_rnd_t rnd_mode)
 {
-  mpreal x(a);
-  mpfr_ui_pow_ui(x.mp,a,b,rnd_mode);
-  return x;
+	mpreal x(a);
+	mpfr_ui_pow_ui(x.mp,a,b,rnd_mode);
+	return x;
 }
 
 inline const mpreal pow(const unsigned long int a, const unsigned int b, mp_rnd_t rnd_mode)
 {
-  return pow(a,static_cast<unsigned long int>(b),rnd_mode); //mpfr_ui_pow_ui
+	return pow(a,static_cast<unsigned long int>(b),rnd_mode); //mpfr_ui_pow_ui
 }
 
 inline const mpreal pow(const unsigned long int a, const long int b, mp_rnd_t rnd_mode)
 {
-  if(b>0)  return pow(a,static_cast<unsigned long int>(b),rnd_mode); //mpfr_ui_pow_ui
-  else  return pow(a,mpreal(b),rnd_mode); //mpfr_ui_pow
+	if(b>0)	return pow(a,static_cast<unsigned long int>(b),rnd_mode); //mpfr_ui_pow_ui
+	else	return pow(a,mpreal(b),rnd_mode); //mpfr_ui_pow
 }
 
 inline const mpreal pow(const unsigned long int a, const int b, mp_rnd_t rnd_mode)
 {
-  if(b>0)  return pow(a,static_cast<unsigned long int>(b),rnd_mode); //mpfr_ui_pow_ui
-  else  return pow(a,mpreal(b),rnd_mode); //mpfr_ui_pow
+	if(b>0)	return pow(a,static_cast<unsigned long int>(b),rnd_mode); //mpfr_ui_pow_ui
+	else	return pow(a,mpreal(b),rnd_mode); //mpfr_ui_pow
 }
 
 inline const mpreal pow(const unsigned long int a, const long double b, mp_rnd_t rnd_mode)
 {
-  return pow(a,mpreal(b),rnd_mode); //mpfr_ui_pow
+	return pow(a,mpreal(b),rnd_mode); //mpfr_ui_pow
 }
 
 inline const mpreal pow(const unsigned long int a, const double b, mp_rnd_t rnd_mode)
 {
-  return pow(a,mpreal(b),rnd_mode); //mpfr_ui_pow
+	return pow(a,mpreal(b),rnd_mode); //mpfr_ui_pow
 }
 
 // pow unsigned int
 inline const mpreal pow(const unsigned int a, const unsigned long int b, mp_rnd_t rnd_mode)
 {
-  return pow(static_cast<unsigned long int>(a),b,rnd_mode); //mpfr_ui_pow_ui
+	return pow(static_cast<unsigned long int>(a),b,rnd_mode); //mpfr_ui_pow_ui
 }
 
 inline const mpreal pow(const unsigned int a, const unsigned int b, mp_rnd_t rnd_mode)
 {
-  return pow(static_cast<unsigned long int>(a),static_cast<unsigned long int>(b),rnd_mode); //mpfr_ui_pow_ui
+	return pow(static_cast<unsigned long int>(a),static_cast<unsigned long int>(b),rnd_mode); //mpfr_ui_pow_ui
 }
 
 inline const mpreal pow(const unsigned int a, const long int b, mp_rnd_t rnd_mode)
 {
-  if(b>0)  return pow(static_cast<unsigned long int>(a),static_cast<unsigned long int>(b),rnd_mode); //mpfr_ui_pow_ui
-  else  return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
+	if(b>0)	return pow(static_cast<unsigned long int>(a),static_cast<unsigned long int>(b),rnd_mode); //mpfr_ui_pow_ui
+	else	return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
 }
 
 inline const mpreal pow(const unsigned int a, const int b, mp_rnd_t rnd_mode)
 {
-  if(b>0)  return pow(static_cast<unsigned long int>(a),static_cast<unsigned long int>(b),rnd_mode); //mpfr_ui_pow_ui
-  else  return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
+	if(b>0)	return pow(static_cast<unsigned long int>(a),static_cast<unsigned long int>(b),rnd_mode); //mpfr_ui_pow_ui
+	else	return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
 }
 
 inline const mpreal pow(const unsigned int a, const long double b, mp_rnd_t rnd_mode)
 {
-  return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
+	return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
 }
 
 inline const mpreal pow(const unsigned int a, const double b, mp_rnd_t rnd_mode)
 {
-  return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
+	return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
 }
 
 // pow long int
 inline const mpreal pow(const long int a, const unsigned long int b, mp_rnd_t rnd_mode)
 {
-  if (a>0) return pow(static_cast<unsigned long int>(a),b,rnd_mode); //mpfr_ui_pow_ui
-  else   return pow(mpreal(a),b,rnd_mode); //mpfr_pow_ui
+	if (a>0) return pow(static_cast<unsigned long int>(a),b,rnd_mode); //mpfr_ui_pow_ui
+	else	 return pow(mpreal(a),b,rnd_mode); //mpfr_pow_ui
 }
 
 inline const mpreal pow(const long int a, const unsigned int b, mp_rnd_t rnd_mode)
 {
-  if (a>0) return pow(static_cast<unsigned long int>(a),static_cast<unsigned long int>(b),rnd_mode);  //mpfr_ui_pow_ui
-  else   return pow(mpreal(a),static_cast<unsigned long int>(b),rnd_mode); //mpfr_pow_ui
+	if (a>0) return pow(static_cast<unsigned long int>(a),static_cast<unsigned long int>(b),rnd_mode);  //mpfr_ui_pow_ui
+	else	 return pow(mpreal(a),static_cast<unsigned long int>(b),rnd_mode); //mpfr_pow_ui
 }
 
 inline const mpreal pow(const long int a, const long int b, mp_rnd_t rnd_mode)
 {
-  if (a>0)
-  {
-    if(b>0) return pow(static_cast<unsigned long int>(a),static_cast<unsigned long int>(b),rnd_mode); //mpfr_ui_pow_ui
-    else  return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
-  }else{
-    return pow(mpreal(a),b,rnd_mode); // mpfr_pow_si
-  }
+	if (a>0)
+	{
+		if(b>0) return pow(static_cast<unsigned long int>(a),static_cast<unsigned long int>(b),rnd_mode); //mpfr_ui_pow_ui
+		else	return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
+	}else{
+		return pow(mpreal(a),b,rnd_mode); // mpfr_pow_si
+	}
 }
 
 inline const mpreal pow(const long int a, const int b, mp_rnd_t rnd_mode)
 {
-  if (a>0)
-  {
-    if(b>0) return pow(static_cast<unsigned long int>(a),static_cast<unsigned long int>(b),rnd_mode); //mpfr_ui_pow_ui
-    else  return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
-  }else{
-    return pow(mpreal(a),static_cast<long int>(b),rnd_mode); // mpfr_pow_si
-  }
+	if (a>0)
+	{
+		if(b>0) return pow(static_cast<unsigned long int>(a),static_cast<unsigned long int>(b),rnd_mode); //mpfr_ui_pow_ui
+		else	return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
+	}else{
+		return pow(mpreal(a),static_cast<long int>(b),rnd_mode); // mpfr_pow_si
+	}
 }
 
 inline const mpreal pow(const long int a, const long double b, mp_rnd_t rnd_mode)
 {
-  if (a>=0)   return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
-  else    return pow(mpreal(a),mpreal(b),rnd_mode); //mpfr_pow
+	if (a>=0) 	return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
+	else		return pow(mpreal(a),mpreal(b),rnd_mode); //mpfr_pow
 }
 
 inline const mpreal pow(const long int a, const double b, mp_rnd_t rnd_mode)
 {
-  if (a>=0)   return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
-  else    return pow(mpreal(a),mpreal(b),rnd_mode); //mpfr_pow
+	if (a>=0) 	return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
+	else		return pow(mpreal(a),mpreal(b),rnd_mode); //mpfr_pow
 }
 
 // pow int
 inline const mpreal pow(const int a, const unsigned long int b, mp_rnd_t rnd_mode)
 {
-  if (a>0) return pow(static_cast<unsigned long int>(a),b,rnd_mode); //mpfr_ui_pow_ui
-  else   return pow(mpreal(a),b,rnd_mode); //mpfr_pow_ui
+	if (a>0) return pow(static_cast<unsigned long int>(a),b,rnd_mode); //mpfr_ui_pow_ui
+	else	 return pow(mpreal(a),b,rnd_mode); //mpfr_pow_ui
 }
 
 inline const mpreal pow(const int a, const unsigned int b, mp_rnd_t rnd_mode)
 {
-  if (a>0) return pow(static_cast<unsigned long int>(a),static_cast<unsigned long int>(b),rnd_mode);  //mpfr_ui_pow_ui
-  else   return pow(mpreal(a),static_cast<unsigned long int>(b),rnd_mode); //mpfr_pow_ui
+	if (a>0) return pow(static_cast<unsigned long int>(a),static_cast<unsigned long int>(b),rnd_mode);  //mpfr_ui_pow_ui
+	else	 return pow(mpreal(a),static_cast<unsigned long int>(b),rnd_mode); //mpfr_pow_ui
 }
 
 inline const mpreal pow(const int a, const long int b, mp_rnd_t rnd_mode)
 {
-  if (a>0)
-  {
-    if(b>0) return pow(static_cast<unsigned long int>(a),static_cast<unsigned long int>(b),rnd_mode); //mpfr_ui_pow_ui
-    else  return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
-  }else{
-    return pow(mpreal(a),b,rnd_mode); // mpfr_pow_si
-  }
+	if (a>0)
+	{
+		if(b>0) return pow(static_cast<unsigned long int>(a),static_cast<unsigned long int>(b),rnd_mode); //mpfr_ui_pow_ui
+		else	return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
+	}else{
+		return pow(mpreal(a),b,rnd_mode); // mpfr_pow_si
+	}
 }
 
 inline const mpreal pow(const int a, const int b, mp_rnd_t rnd_mode)
 {
-  if (a>0)
-  {
-    if(b>0) return pow(static_cast<unsigned long int>(a),static_cast<unsigned long int>(b),rnd_mode); //mpfr_ui_pow_ui
-    else  return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
-  }else{
-    return pow(mpreal(a),static_cast<long int>(b),rnd_mode); // mpfr_pow_si
-  }
+	if (a>0)
+	{
+		if(b>0) return pow(static_cast<unsigned long int>(a),static_cast<unsigned long int>(b),rnd_mode); //mpfr_ui_pow_ui
+		else	return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
+	}else{
+		return pow(mpreal(a),static_cast<long int>(b),rnd_mode); // mpfr_pow_si
+	}
 }
 
 inline const mpreal pow(const int a, const long double b, mp_rnd_t rnd_mode)
 {
-  if (a>=0)   return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
-  else    return pow(mpreal(a),mpreal(b),rnd_mode); //mpfr_pow
+	if (a>=0) 	return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
+	else		return pow(mpreal(a),mpreal(b),rnd_mode); //mpfr_pow
 }
 
 inline const mpreal pow(const int a, const double b, mp_rnd_t rnd_mode)
 {
-  if (a>=0)   return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
-  else    return pow(mpreal(a),mpreal(b),rnd_mode); //mpfr_pow
+	if (a>=0) 	return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
+	else		return pow(mpreal(a),mpreal(b),rnd_mode); //mpfr_pow
 }
 
 // pow long double 
 inline const mpreal pow(const long double a, const long double b, mp_rnd_t rnd_mode)
 {
-  return pow(mpreal(a),mpreal(b),rnd_mode);
+	return pow(mpreal(a),mpreal(b),rnd_mode);
 }
 
 inline const mpreal pow(const long double a, const unsigned long int b, mp_rnd_t rnd_mode)
 {
-  return pow(mpreal(a),b,rnd_mode); //mpfr_pow_ui
+	return pow(mpreal(a),b,rnd_mode); //mpfr_pow_ui
 }
 
 inline const mpreal pow(const long double a, const unsigned int b, mp_rnd_t rnd_mode)
 {
-  return pow(mpreal(a),static_cast<unsigned long int>(b),rnd_mode); //mpfr_pow_ui
+	return pow(mpreal(a),static_cast<unsigned long int>(b),rnd_mode); //mpfr_pow_ui
 }
 
 inline const mpreal pow(const long double a, const long int b, mp_rnd_t rnd_mode)
 {
-  return pow(mpreal(a),b,rnd_mode); // mpfr_pow_si
+	return pow(mpreal(a),b,rnd_mode); // mpfr_pow_si
 }
 
 inline const mpreal pow(const long double a, const int b, mp_rnd_t rnd_mode)
 {
-  return pow(mpreal(a),static_cast<long int>(b),rnd_mode); // mpfr_pow_si
+	return pow(mpreal(a),static_cast<long int>(b),rnd_mode); // mpfr_pow_si
 }
 
 inline const mpreal pow(const double a, const double b, mp_rnd_t rnd_mode)
 {
-  return pow(mpreal(a),mpreal(b),rnd_mode);
+	return pow(mpreal(a),mpreal(b),rnd_mode);
 }
 
 inline const mpreal pow(const double a, const unsigned long int b, mp_rnd_t rnd_mode)
 {
-  return pow(mpreal(a),b,rnd_mode); // mpfr_pow_ui
+	return pow(mpreal(a),b,rnd_mode); // mpfr_pow_ui
 }
 
 inline const mpreal pow(const double a, const unsigned int b, mp_rnd_t rnd_mode)
 {
-  return pow(mpreal(a),static_cast<unsigned long int>(b),rnd_mode); // mpfr_pow_ui
+	return pow(mpreal(a),static_cast<unsigned long int>(b),rnd_mode); // mpfr_pow_ui
 }
 
 inline const mpreal pow(const double a, const long int b, mp_rnd_t rnd_mode)
 {
-  return pow(mpreal(a),b,rnd_mode); // mpfr_pow_si
+	return pow(mpreal(a),b,rnd_mode); // mpfr_pow_si
 }
 
 inline const mpreal pow(const double a, const int b, mp_rnd_t rnd_mode)
 {
-  return pow(mpreal(a),static_cast<long int>(b),rnd_mode); // mpfr_pow_si
+	return pow(mpreal(a),static_cast<long int>(b),rnd_mode); // mpfr_pow_si
 }
 } // End of mpfr namespace
 
@@ -2725,11 +2725,11 @@ inline const mpreal pow(const double a, const int b, mp_rnd_t rnd_mode)
 // Non-throwing swap C++ idiom: http://en.wikibooks.org/wiki/More_C%2B%2B_Idioms/Non-throwing_swap
 namespace std
 {
-  template <>
-  inline void swap(mpfr::mpreal& x, mpfr::mpreal& y) 
-  { 
-    return mpfr::swap(x, y); 
-  }
+	template <>
+	inline void swap(mpfr::mpreal& x, mpfr::mpreal& y) 
+	{ 
+		return mpfr::swap(x, y); 
+	}
 }
 
 #endif /* __MPREAL_H__ */
diff --git a/gtsam/3rdparty/Eigen/unsupported/test/openglsupport.cpp b/gtsam/3rdparty/Eigen/unsupported/test/openglsupport.cpp
index 89aaffca8..706a816f7 100644
--- a/gtsam/3rdparty/Eigen/unsupported/test/openglsupport.cpp
+++ b/gtsam/3rdparty/Eigen/unsupported/test/openglsupport.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include <main.h>
 #include <iostream>
diff --git a/gtsam/3rdparty/Eigen/unsupported/test/polynomialsolver.cpp b/gtsam/3rdparty/Eigen/unsupported/test/polynomialsolver.cpp
index 28e034179..fefeaff01 100644
--- a/gtsam/3rdparty/Eigen/unsupported/test/polynomialsolver.cpp
+++ b/gtsam/3rdparty/Eigen/unsupported/test/polynomialsolver.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010 Manuel Yguel <manuel.yguel@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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <unsupported/Eigen/Polynomials>
diff --git a/gtsam/3rdparty/Eigen/unsupported/test/polynomialutils.cpp b/gtsam/3rdparty/Eigen/unsupported/test/polynomialutils.cpp
index 7ff913c37..5fc968402 100644
--- a/gtsam/3rdparty/Eigen/unsupported/test/polynomialutils.cpp
+++ b/gtsam/3rdparty/Eigen/unsupported/test/polynomialutils.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010 Manuel Yguel <manuel.yguel@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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"
 #include <unsupported/Eigen/Polynomials>
diff --git a/gtsam/3rdparty/Eigen/unsupported/test/sparse_extra.cpp b/gtsam/3rdparty/Eigen/unsupported/test/sparse_extra.cpp
index 6c5c888ae..5dc333424 100644
--- a/gtsam/3rdparty/Eigen/unsupported/test/sparse_extra.cpp
+++ b/gtsam/3rdparty/Eigen/unsupported/test/sparse_extra.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2008-2010 Gael Guennebaud <g.gael@free.fr>
 //
-// 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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 
 // import basic and product tests for deprectaed DynamicSparseMatrix
diff --git a/gtsam/3rdparty/Eigen/unsupported/test/splines.cpp b/gtsam/3rdparty/Eigen/unsupported/test/splines.cpp
index fe98bf183..1043453dc 100644
--- a/gtsam/3rdparty/Eigen/unsupported/test/splines.cpp
+++ b/gtsam/3rdparty/Eigen/unsupported/test/splines.cpp
@@ -3,24 +3,9 @@
 //
 // Copyright (C) 2010-2011 Hauke Heibel <heibel@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/>.
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #include "main.h"