diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/CwiseNullaryOp.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/CwiseNullaryOp.h
index 4ffd0057b..ddd607e38 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/CwiseNullaryOp.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/CwiseNullaryOp.h
@@ -215,7 +215,7 @@ DenseBase<Derived>::Constant(const Scalar& value)
   return DenseBase<Derived>::NullaryExpr(RowsAtCompileTime, ColsAtCompileTime, internal::scalar_constant_op<Scalar>(value));
 }
 
-/** @deprecated because of accuracy loss. In Eigen 3.3, it is an alias for LinSpaced(Index,const Scalar&,const Scalar&)
+/** \deprecated because of accuracy loss. In Eigen 3.3, it is an alias for LinSpaced(Index,const Scalar&,const Scalar&)
   *
   * \sa LinSpaced(Index,Scalar,Scalar), setLinSpaced(Index,const Scalar&,const Scalar&)
   */
@@ -227,7 +227,7 @@ DenseBase<Derived>::LinSpaced(Sequential_t, Index size, const Scalar& low, const
   return DenseBase<Derived>::NullaryExpr(size, internal::linspaced_op<Scalar,PacketScalar>(low,high,size));
 }
 
-/** @deprecated because of accuracy loss. In Eigen 3.3, it is an alias for LinSpaced(const Scalar&,const Scalar&)
+/** \deprecated because of accuracy loss. In Eigen 3.3, it is an alias for LinSpaced(const Scalar&,const Scalar&)
   *
   * \sa LinSpaced(Scalar,Scalar)
   */
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseBase.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseBase.h
index 8b2733814..90066ae73 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseBase.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseBase.h
@@ -298,7 +298,7 @@ template<typename Derived> class DenseBase
 
     /** \internal
       * Copies \a other into *this without evaluating other. \returns a reference to *this.
-      * @deprecated */
+      * \deprecated */
     template<typename OtherDerived>
     EIGEN_DEVICE_FUNC
     Derived& lazyAssign(const DenseBase<OtherDerived>& other);
@@ -306,7 +306,7 @@ template<typename Derived> class DenseBase
     EIGEN_DEVICE_FUNC
     CommaInitializer<Derived> operator<< (const Scalar& s);
 
-    /** @deprecated it now returns \c *this */
+    /** \deprecated it now returns \c *this */
     template<unsigned int Added,unsigned int Removed>
     EIGEN_DEPRECATED
     const Derived& flagged() const
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/EigenBase.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/EigenBase.h
index bf30e03ff..b195506a9 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/EigenBase.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/EigenBase.h
@@ -32,7 +32,7 @@ template<typename Derived> struct EigenBase
   
   /** \brief The interface type of indices
     * \details To change this, \c \#define the preprocessor symbol \c EIGEN_DEFAULT_DENSE_INDEX_TYPE.
-    * @deprecated Since Eigen 3.3, its usage is deprecated. Use Eigen::Index instead.
+    * \deprecated Since Eigen 3.3, its usage is deprecated. Use Eigen::Index instead.
     * \sa StorageIndex, \ref TopicPreprocessorDirectives.
     */
   typedef Eigen::Index Index;
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/TriangularMatrix.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/TriangularMatrix.h
index 9c76906fe..9db32744e 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/TriangularMatrix.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/TriangularMatrix.h
@@ -435,7 +435,7 @@ template<typename _MatrixType, unsigned int _Mode> class TriangularViewImpl<_Mat
     TriangularViewType& operator=(const TriangularViewImpl& other)
     { return *this = other.derived().nestedExpression(); }
 
-    /** @deprecated */
+    /** \deprecated */
     template<typename OtherDerived>
     EIGEN_DEVICE_FUNC
     void lazyAssign(const TriangularBase<OtherDerived>& other);
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Constants.h b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Constants.h
index 9602332c8..7587d6842 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Constants.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Core/util/Constants.h
@@ -65,7 +65,7 @@ const unsigned int RowMajorBit = 0x1;
 const unsigned int EvalBeforeNestingBit = 0x2;
 
 /** \ingroup flags
-  * @deprecated
+  * \deprecated
   * means the expression should be evaluated before any assignment */
 EIGEN_DEPRECATED
 const unsigned int EvalBeforeAssigningBit = 0x4; // FIXME deprecated
@@ -149,7 +149,7 @@ const unsigned int LvalueBit = 0x20;
   */
 const unsigned int DirectAccessBit = 0x40;
 
-/** @deprecated \ingroup flags
+/** \deprecated \ingroup flags
   *
   * means the first coefficient packet is guaranteed to be aligned.
   * An expression cannot has the AlignedBit without the PacketAccessBit flag.
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/AlignedBox.h b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/AlignedBox.h
index 96c100245..066eae4f9 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/AlignedBox.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/AlignedBox.h
@@ -84,10 +84,10 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
   /** \returns the dimension in which the box holds */
   EIGEN_DEVICE_FUNC inline Index dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size() : Index(AmbientDimAtCompileTime); }
 
-  /** @deprecated use isEmpty() */
+  /** \deprecated use isEmpty() */
   EIGEN_DEVICE_FUNC inline bool isNull() const { return isEmpty(); }
 
-  /** @deprecated use setEmpty() */
+  /** \deprecated use setEmpty() */
   EIGEN_DEVICE_FUNC inline void setNull() { setEmpty(); }
 
   /** \returns true if the box is empty.
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/ParametrizedLine.h b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/ParametrizedLine.h
index 60ca9b7f3..1e985d8cd 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/ParametrizedLine.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/ParametrizedLine.h
@@ -170,7 +170,7 @@ EIGEN_DEVICE_FUNC inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>
 }
 
 
-/** @deprecated use intersectionParameter()
+/** \deprecated use intersectionParameter()
   * \returns the parameter value of the intersection between \c *this and the given \a hyperplane
   */
 template <typename _Scalar, int _AmbientDim, int _Options>
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Scaling.h b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Scaling.h
index 81a5bcafc..f58ca03d9 100755
--- a/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Scaling.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/Geometry/Scaling.h
@@ -142,13 +142,13 @@ template<typename Derived>
 inline const DiagonalWrapper<const Derived> Scaling(const MatrixBase<Derived>& coeffs)
 { return coeffs.asDiagonal(); }
 
-/** @deprecated */
+/** \deprecated */
 typedef DiagonalMatrix<float, 2> AlignedScaling2f;
-/** @deprecated */
+/** \deprecated */
 typedef DiagonalMatrix<double,2> AlignedScaling2d;
-/** @deprecated */
+/** \deprecated */
 typedef DiagonalMatrix<float, 3> AlignedScaling3f;
-/** @deprecated */
+/** \deprecated */
 typedef DiagonalMatrix<double,3> AlignedScaling3d;
 //@}
 
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCholesky/SimplicialCholesky.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCholesky/SimplicialCholesky.h
index f2693fc81..2907f6529 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCholesky/SimplicialCholesky.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCholesky/SimplicialCholesky.h
@@ -493,7 +493,7 @@ public:
     }
 };
 
-/** @deprecated use SimplicialLDLT or class SimplicialLLT
+/** \deprecated use SimplicialLDLT or class SimplicialLLT
   * \ingroup SparseCholesky_Module
   * \class SimplicialCholesky
   *
diff --git a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/MappedSparseMatrix.h b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/MappedSparseMatrix.h
index 25ca27fe5..67718c85b 100644
--- a/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/MappedSparseMatrix.h
+++ b/gtsam/3rdparty/Eigen/Eigen/src/SparseCore/MappedSparseMatrix.h
@@ -12,7 +12,7 @@
 
 namespace Eigen {
 
-/** @deprecated Use Map<SparseMatrix<> >
+/** \deprecated Use Map<SparseMatrix<> >
   * \class MappedSparseMatrix
   *
   * \brief Sparse matrix
diff --git a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/DynamicSparseMatrix.h b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/DynamicSparseMatrix.h
index 1f0379c15..0ffbc43d2 100644
--- a/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/DynamicSparseMatrix.h
+++ b/gtsam/3rdparty/Eigen/unsupported/Eigen/src/SparseExtra/DynamicSparseMatrix.h
@@ -12,7 +12,7 @@
 
 namespace Eigen { 
 
-/** @deprecated use a SparseMatrix in an uncompressed mode
+/** \deprecated use a SparseMatrix in an uncompressed mode
   *
   * \class DynamicSparseMatrix
   *
@@ -291,7 +291,7 @@ template<typename _Scalar, int _Options, typename _StorageIndex>
 
   public:
 
-    /** @deprecated
+    /** \deprecated
       * Set the matrix to zero and reserve the memory for \a reserveSize nonzero coefficients. */
     EIGEN_DEPRECATED void startFill(Index reserveSize = 1000)
     {
@@ -299,7 +299,7 @@ template<typename _Scalar, int _Options, typename _StorageIndex>
       reserve(reserveSize);
     }
 
-    /** @deprecated use insert()
+    /** \deprecated use insert()
       * inserts a nonzero coefficient at given coordinates \a row, \a col and returns its reference assuming that:
       *  1 - the coefficient does not exist yet
       *  2 - this the coefficient with greater inner coordinate for the given outer coordinate.
@@ -315,7 +315,7 @@ template<typename _Scalar, int _Options, typename _StorageIndex>
       return insertBack(outer,inner);
     }
 
-    /** @deprecated use insert()
+    /** \deprecated use insert()
       * Like fill() but with random inner coordinates.
       * Compared to the generic coeffRef(), the unique limitation is that we assume
       * the coefficient does not exist yet.
@@ -325,7 +325,7 @@ template<typename _Scalar, int _Options, typename _StorageIndex>
       return insert(row,col);
     }
 
-    /** @deprecated use finalize()
+    /** \deprecated use finalize()
       * Does nothing. Provided for compatibility with SparseMatrix. */
     EIGEN_DEPRECATED void endFill() {}
     
diff --git a/gtsam/3rdparty/GeographicLib/include/GeographicLib/NormalGravity.hpp b/gtsam/3rdparty/GeographicLib/include/GeographicLib/NormalGravity.hpp
index 13a21c657..2c4955f74 100644
--- a/gtsam/3rdparty/GeographicLib/include/GeographicLib/NormalGravity.hpp
+++ b/gtsam/3rdparty/GeographicLib/include/GeographicLib/NormalGravity.hpp
@@ -142,7 +142,7 @@ namespace GeographicLib {
     NormalGravity(real a, real GM, real omega, real f_J2,
                   bool geometricp = true);
     /**
-     * @deprecated Old constructor for the normal gravity.
+     * \deprecated Old constructor for the normal gravity.
      *
      * @param[in] a equatorial radius (meters).
      * @param[in] GM mass constant of the ellipsoid
diff --git a/gtsam/3rdparty/GeographicLib/include/GeographicLib/Utility.hpp b/gtsam/3rdparty/GeographicLib/include/GeographicLib/Utility.hpp
index a9b0129d4..9990e47e9 100644
--- a/gtsam/3rdparty/GeographicLib/include/GeographicLib/Utility.hpp
+++ b/gtsam/3rdparty/GeographicLib/include/GeographicLib/Utility.hpp
@@ -380,7 +380,7 @@ namespace GeographicLib {
       return x;
     }
     /**
-     * @deprecated An old name for val<T>(s).
+     * \deprecated An old name for val<T>(s).
      **********************************************************************/
     template<typename T>
       // GEOGRAPHICLIB_DEPRECATED("Use new Utility::val<T>(s)")