diff --git a/.cproject b/.cproject index 2bc98db3c..dd5f6dc09 100644 --- a/.cproject +++ b/.cproject @@ -307,6 +307,14 @@ true true + + make + -j2 + testGaussianFactor.run + true + true + true + make -j2 @@ -333,7 +341,6 @@ make - tests/testBayesTree.run true false @@ -341,7 +348,6 @@ make - testBinaryBayesNet.run true false @@ -389,7 +395,6 @@ make - testSymbolicBayesNet.run true false @@ -397,7 +402,6 @@ make - tests/testSymbolicFactor.run true false @@ -405,7 +409,6 @@ make - testSymbolicFactorGraph.run true false @@ -421,20 +424,11 @@ make - tests/testBayesTree true false true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j5 @@ -523,22 +517,6 @@ false true - - make - -j2 - tests/testPose2.run - true - true - true - - - make - -j2 - tests/testPose3.run - true - true - true - make -j2 @@ -555,6 +533,22 @@ true true + + make + -j2 + tests/testPose2.run + true + true + true + + + make + -j2 + tests/testPose3.run + true + true + true + make -j2 @@ -579,26 +573,34 @@ true true - + make - -j2 - all + -j5 + testValues.run true true true - + make - -j2 - check + -j5 + testOrdering.run true true true - + make - -j2 - clean + -j5 + testKey.run + true + true + true + + + make + -j5 + testLinearContainerFactor.run true true true @@ -683,26 +685,26 @@ true true - + make - -j5 - testValues.run + -j2 + all true true true - + make - -j5 - testOrdering.run + -j2 + check true true true - + make - -j5 - testKey.run + -j2 + clean true true true @@ -1045,7 +1047,6 @@ make - testGraph.run true false @@ -1053,7 +1054,6 @@ make - testJunctionTree.run true false @@ -1061,7 +1061,6 @@ make - testSymbolicBayesNetB.run true false @@ -1221,7 +1220,6 @@ make - testErrors.run true false @@ -1267,10 +1265,10 @@ true true - + make - -j5 - testLinearContainerFactor.run + -j2 + testGaussianFactor.run true true true @@ -1355,14 +1353,6 @@ true true - - make - -j2 - testGaussianFactor.run - true - true - true - make -j2 @@ -1693,6 +1683,7 @@ make + testSimulated2DOriented.run true false @@ -1732,6 +1723,7 @@ make + testSimulated2D.run true false @@ -1739,6 +1731,7 @@ make + testSimulated3D.run true false @@ -1832,6 +1825,14 @@ true true + + make + -j5 + testJacobianFactor.run + true + true + true + make -j2 @@ -1930,6 +1931,7 @@ make + tests/testGaussianISAM2 true false @@ -1951,6 +1953,102 @@ true true + + make + -j2 + testRot3.run + true + true + true + + + make + -j2 + testRot2.run + true + true + true + + + make + -j2 + testPose3.run + true + true + true + + + make + -j2 + timeRot3.run + true + true + true + + + make + -j2 + testPose2.run + true + true + true + + + make + -j2 + testCal3_S2.run + true + true + true + + + make + -j2 + testSimpleCamera.run + true + true + true + + + make + -j2 + testHomography2.run + true + true + true + + + make + -j2 + testCalibratedCamera.run + true + true + true + + + make + -j2 + check + true + true + true + + + make + -j2 + clean + true + true + true + + + make + -j2 + testPoint2.run + true + true + true + make -j3 @@ -2152,7 +2250,6 @@ cpack - -G DEB true false @@ -2160,7 +2257,6 @@ cpack - -G RPM true false @@ -2168,7 +2264,6 @@ cpack - -G TGZ true false @@ -2176,7 +2271,6 @@ cpack - --config CPackSourceConfig.cmake true false @@ -2262,14 +2356,6 @@ true true - - make - -j5 - check.nonlinear_unstable - true - true - true - make -j5 @@ -2310,98 +2396,34 @@ true true - + make - -j2 - testRot3.run + -j5 + testSpirit.run true true true - + make - -j2 - testRot2.run + -j5 + testWrap.run true true true - + make - -j2 - testPose3.run + -j5 + check.wrap true true true - + make - -j2 - timeRot3.run - true - true - true - - - make - -j2 - testPose2.run - true - true - true - - - make - -j2 - testCal3_S2.run - true - true - true - - - make - -j2 - testSimpleCamera.run - true - true - true - - - make - -j2 - testHomography2.run - true - true - true - - - make - -j2 - testCalibratedCamera.run - true - true - true - - - make - -j2 - check - true - true - true - - - make - -j2 - clean - true - true - true - - - make - -j2 - testPoint2.run + -j5 + wrap true true true @@ -2445,38 +2467,6 @@ false true - - make - -j5 - testSpirit.run - true - true - true - - - make - -j5 - testWrap.run - true - true - true - - - make - -j5 - check.wrap - true - true - true - - - make - -j5 - wrap - true - true - true - diff --git a/CMakeLists.txt b/CMakeLists.txt index bda8ef9c8..8dcbe1c65 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -46,7 +46,7 @@ endif() # Configurable Options option(GTSAM_BUILD_TESTS "Enable/Disable building of tests" ON) -option(GTSAM_BUILD_TIMING "Enable/Disable building of timing scripts" ON) # These do not currently work +option(GTSAM_BUILD_TIMING "Enable/Disable building of timing scripts" OFF) # These do not currently work option(GTSAM_BUILD_EXAMPLES "Enable/Disable building of examples" ON) if(GTSAM_UNSTABLE_AVAILABLE) option(GTSAM_BUILD_UNSTABLE "Enable/Disable libgtsam_unstable" ON) @@ -69,8 +69,6 @@ option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matlab option(GTSAM_BUILD_WRAP "Enable/Disable building of matlab wrap utility (necessary for matlab interface)" ON) option(GTSAM_INSTALL_WRAP "Enable/Disable installation of wrap utility for wrapping other libraries" ON) set(GTSAM_TOOLBOX_INSTALL_PATH "" CACHE PATH "Matlab toolbox destination, blank defaults to CMAKE_INSTALL_PREFIX/borg/toolbox") -set(GTSAM_BUILD_MEX_BINARY_FLAGS "" CACHE STRING "Extra flags for running Matlab MEX compilation") -set(MEX_COMMAND "mex" CACHE FILEPATH "Command to use for executing mex (if on path, 'mex' will work)") # Check / set dependent variables for MATLAB wrapper set(GTSAM_WRAP_HEADER_PATH "${PROJECT_SOURCE_DIR}/wrap") 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/doc/LieGroups.lyx b/doc/LieGroups.lyx index 03116dbc9..0ceb6da09 100644 --- a/doc/LieGroups.lyx +++ b/doc/LieGroups.lyx @@ -1744,7 +1744,7 @@ For small angles we have \begin_inset Formula \[ -e^{\skew{\omega}}\approx\skew{\omega}=\omega\skew 1 +e^{\skew{\omega}}\approx I+\skew{\omega}=I+\omega\skew 1 \] \end_inset @@ -2122,7 +2122,7 @@ Analoguous to \begin_inset Formula $\SEthree$ \end_inset -, we can compute a velocity + (see below), we can compute a velocity \begin_inset Formula $\xihat\hat{p}$ \end_inset @@ -3143,8 +3143,7 @@ p\\ \end_inset -We would now like to know what an incremental rotation parameterized by - +We would now like to know what an incremental pose parameterized by \begin_inset Formula $\xi$ \end_inset @@ -3227,6 +3226,17 @@ v \end_inset +yielding the derivative +\begin_inset Formula +\[ +\deriv{\hat{q}(\xi)}{\xi}=T\deriv{}{\xi}\left(\xihat\hat{p}\right)=T\left[\begin{array}{cc} +-\Skew p & I_{3}\\ +0 & 0 +\end{array}\right] +\] + +\end_inset + The inverse action \begin_inset Formula $T^{-1}p$ \end_inset diff --git a/doc/LieGroups.pdf b/doc/LieGroups.pdf index f271f35c0..4daeb602c 100644 Binary files a/doc/LieGroups.pdf and b/doc/LieGroups.pdf differ diff --git a/gtsam.h b/gtsam.h index 62ca26269..c4950e4e4 100644 --- a/gtsam.h +++ b/gtsam.h @@ -765,6 +765,7 @@ class IndexConditional { gtsam::IndexFactor* toFactor() const; //Advanced interface + bool permuteSeparatorWithInverse(const gtsam::Permutation& inversePermutation); void permuteWithInverse(const gtsam::Permutation& inversePermutation); }; @@ -787,6 +788,7 @@ virtual class BayesNet { void push_front(This& conditional); void pop_front(); void permuteWithInverse(const gtsam::Permutation& inversePermutation); + bool permuteSeparatorWithInverse(const gtsam::Permutation& inversePermutation); }; #include @@ -830,6 +832,7 @@ virtual class BayesTreeClique { // derived_ptr parent() const { return parent_.lock(); } void permuteWithInverse(const gtsam::Permutation& inversePermutation); + bool permuteSeparatorWithInverse(const gtsam::Permutation& inversePermutation); // FIXME: need wrapped versions graphs, BayesNet // BayesNet shortcut(derived_ptr root, Eliminate function) const; @@ -856,6 +859,7 @@ virtual class SymbolicBayesNet : gtsam::SymbolicBayesNetBase { //Advanced Interface void pop_front(); void permuteWithInverse(const gtsam::Permutation& inversePermutation); + bool permuteSeparatorWithInverse(const gtsam::Permutation& inversePermutation); }; #include @@ -1517,6 +1521,8 @@ class KeyList { size_t back() const; void push_back(size_t key); void push_front(size_t key); + void pop_back(); + void pop_front(); void sort(); void remove(size_t key); }; @@ -1584,6 +1590,42 @@ class JointMarginal { void print() const; }; +#include +virtual class LinearContainerFactor : gtsam::NonlinearFactor { + + LinearContainerFactor(gtsam::GaussianFactor* factor, const gtsam::Ordering& ordering, + const gtsam::Values& linearizationPoint); + LinearContainerFactor(gtsam::GaussianFactor* factor, const gtsam::Values& linearizationPoint); + LinearContainerFactor(gtsam::GaussianFactor* factor, const gtsam::InvertedOrdering& ordering, + const gtsam::Values& linearizationPoint); + + LinearContainerFactor(gtsam::GaussianFactor* factor, const gtsam::Ordering& ordering); + LinearContainerFactor(gtsam::GaussianFactor* factor); + LinearContainerFactor(gtsam::GaussianFactor* factor, const gtsam::InvertedOrdering& ordering); + + gtsam::GaussianFactor* factor() const; +// const boost::optional& linearizationPoint() const; + + gtsam::GaussianFactor* order(const gtsam::Ordering& ordering) const; + gtsam::GaussianFactor* negate(const gtsam::Ordering& ordering) const; + gtsam::NonlinearFactor* negate() const; + + bool isJacobian() const; + gtsam::JacobianFactor* toJacobian() const; + gtsam::HessianFactor* toHessian() const; + + static gtsam::NonlinearFactorGraph convertLinearGraph(const gtsam::GaussianFactorGraph& linear_graph, + const gtsam::Ordering& ordering, const gtsam::Values& linearizationPoint); + static gtsam::NonlinearFactorGraph convertLinearGraph(const gtsam::GaussianFactorGraph& linear_graph, + const gtsam::InvertedOrdering& invOrdering, const gtsam::Values& linearizationPoint); + + static gtsam::NonlinearFactorGraph convertLinearGraph(const gtsam::GaussianFactorGraph& linear_graph, + const gtsam::Ordering& ordering); + static gtsam::NonlinearFactorGraph convertLinearGraph(const gtsam::GaussianFactorGraph& linear_graph, + const gtsam::InvertedOrdering& invOrdering); + +}; // \class LinearContainerFactor + //************************************************************************* // Nonlinear optimizers //************************************************************************* @@ -1764,6 +1806,7 @@ virtual class ISAM2Clique { void print(string s); void permuteWithInverse(const gtsam::Permutation& inversePermutation); + bool permuteSeparatorWithInverse(const gtsam::Permutation& inversePermutation); }; class ISAM2Result { @@ -1957,6 +2000,7 @@ namespace utilities { Matrix extractPoint2(const gtsam::Values& values); Matrix extractPoint3(const gtsam::Values& values); Matrix extractPose2(const gtsam::Values& values); + gtsam::Values allPose3s(gtsam::Values& values); Matrix extractPose3(const gtsam::Values& values); void perturbPoint2(gtsam::Values& values, double sigma, int seed); void perturbPoint3(gtsam::Values& values, double sigma, int seed); 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 - Copyright (C) 2007 Free Software Foundation, Inc. + Copyright (C) 1991, 1999 Free Software Foundation, Inc. + 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA Everyone is permitted to copy and distribute verbatim copies of this license document, but changing it is not 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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. + + , 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 // Copyright (C) 2007-2011 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2009 Hauke Heibel // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2009 Hauke Heibel // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2011 Timothy E. Holy // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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, Rhs> typedef typename LDLTType::RealScalar RealScalar; const Diagonal vectorD = dec().vectorD(); RealScalar tolerance = (max)(vectorD.array().abs().maxCoeff() * NumTraits::epsilon(), - RealScalar(1) / NumTraits::highest()); // motivated by LAPACK's xGELSS + RealScalar(1) / NumTraits::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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 > 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 > 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 // Copyright (C) 2008 Gael Guennebaud // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2006-2010 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2006-2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 CommaInitializer& operator,(const DenseBase& 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 // Copyright (C) 2006-2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2006-2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2008-2010 Gael Guennebaud // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2010 Hauke Heibel // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2009-2010 Gael Guennebaud // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 > typedef typename remove_reference::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::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 // Copyright (C) 2007-2009 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 public: typedef typename internal::traits::DiagonalVectorType DiagonalVectorType; typedef typename DiagonalVectorType::Scalar Scalar; + typedef typename DiagonalVectorType::RealScalar RealScalar; typedef typename internal::traits::StorageKind StorageKind; typedef typename internal::traits::Index Index; @@ -80,6 +66,17 @@ class DiagonalBase : public EigenBase return diagonal().cwiseInverse(); } + inline const DiagonalWrapper, const DiagonalVectorType> > + operator*(const Scalar& scalar) const + { + return diagonal() * scalar; + } + friend inline const DiagonalWrapper, const DiagonalVectorType> > + operator*(const Scalar& scalar, const DiagonalBase& other) + { + return other.diagonal() * scalar; + } + #ifdef EIGEN2_SUPPORT template bool isApprox(const DiagonalBase& other, typename NumTraits::Real precision = NumTraits::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 // Copyright (C) 2007-2009 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2009 Gael Guennebaud // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 > * 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 struct functor_traits > { enum { Cost = NumTraits::MulCost, PacketAccess = false }; }; -template -struct scalar_quotient1_impl { - typedef typename packet_traits::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(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(m_other)); } - const Scalar m_other; -}; -template -struct functor_traits > -{ enum { Cost = NumTraits::MulCost, PacketAccess = packet_traits::HasMul }; }; - -template -struct scalar_quotient1_impl { - // 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::Nested>::type m_other; -}; -template -struct functor_traits > -{ enum { Cost = 2 * NumTraits::MulCost, PacketAccess = false }; }; - /** \internal * \brief Template functor to divide a scalar by a fixed other one * @@ -529,14 +487,19 @@ struct functor_traits > * \sa class CwiseUnaryOp, MatrixBase::operator/ */ template -struct scalar_quotient1_op : scalar_quotient1_impl::IsInteger > { - EIGEN_STRONG_INLINE scalar_quotient1_op(const Scalar& other) - : scalar_quotient1_impl::IsInteger >(other) {} +struct scalar_quotient1_op { + typedef typename packet_traits::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(m_other)); } + typename add_const_on_value_type::Nested>::type m_other; }; template struct functor_traits > -: functor_traits::IsInteger> > -{}; +{ enum { Cost = 2 * NumTraits::MulCost, PacketAccess = packet_traits::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 // Copyright (C) 2008 Gael Guennebaud // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2008-2011 Gael Guennebaud // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2006-2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2010 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2008 Gael Guennebaud // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2008 Gael Guennebaud // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2008 Gael Guennebaud // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // std::isfinite is non standard, so let's define our own version, // even though it is not very efficient. -template bool isfinite(const T& x) +template bool (isfinite)(const T& x) { return x::highest() && x>NumTraits::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 // Copyright (C) 2008-2009 Gael Guennebaud // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2008 Gael Guennebaud // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 class MatrixBase // huuuge hack. make Eigen2's matrix.part() 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 class U> + template class U> const DiagonalWrapper 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 // Copyright (C) 2006-2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2009-2011 Gael Guennebaud // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2006-2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla Public +// License, v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2006-2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2009-2010 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2009-2010 Gael Guennebaud // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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::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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2009-2010 Gael Guennebaud // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2008-2009 Gael Guennebaud // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 struct triangular_assignment_selector { 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 // Copyright (C) 2006-2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2006-2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2006-2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // 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 . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2008-2010 Gael Guennebaud // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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(&lhs2[alignedStart-2]); A03 = pload(&lhs3[alignedStart-3]); - for (Index j = alignedStart; j(&lhs1[j-1+LhsPacketSize]); palign<1>(A01,A11); A12 = pload(&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; j1 ? 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(&lhs2[alignedStart-2]); A03 = pload(&lhs3[alignedStart-3]); - for (Index j = alignedStart; j(&rhs[j]); A11 = pload(&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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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& blocking) { product_triangular_matrix_matrix - ::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& blocking) { // strip zeros Index diagSize = (std::min)(_rows,_depth); @@ -122,15 +107,16 @@ struct product_triangular_matrix_matrix lhs(_lhs,lhsStride); const_blas_data_mapper 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(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 triangularBuffer; triangularBuffer.setZero(); @@ -188,7 +174,7 @@ struct product_triangular_matrix_matrix0) @@ -198,7 +184,7 @@ struct product_triangular_matrix_matrix() (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& blocking) { // strip zeros Index diagSize = (std::min)(_cols,_depth); @@ -250,16 +236,16 @@ struct product_triangular_matrix_matrix lhs(_lhs,lhsStride); const_blas_data_mapper 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(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 triangularBuffer; triangularBuffer.setZero(); @@ -347,13 +333,13 @@ struct product_triangular_matrix_matrix 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::Flags&RowMajorBit) ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate, (internal::traits<_ActualRhsType>::Flags&RowMajorBit) ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate, (internal::traits::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 { \ 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& blocking) { \ product_triangular_matrix_matrix_trmm::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& blocking) \ { \ Index diagSize = (std::min)(_rows,_depth); \ Index rows = IsLower ? _rows : diagSize; \ @@ -115,16 +115,16 @@ struct product_triangular_matrix_matrix_trmm::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 > lhsMap(_lhs,rows,depth,OuterStride<>(lhsStride)); \ MatrixLhs aa_tmp=lhsMap.template triangularView(); \ MKL_INT aStride = aa_tmp.outerStride(); \ - gemm_blocking_space blocking(_rows,_cols,_depth); \ + gemm_blocking_space gemm_blocking(_rows,_cols,_depth); \ general_matrix_matrix_product::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& blocking) \ { \ Index diagSize = (std::min)(_cols,_depth); \ Index rows = _rows; \ @@ -229,16 +229,16 @@ struct product_triangular_matrix_matrix_trmm::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 > rhsMap(_rhs,depth,cols, OuterStride<>(rhsStride)); \ MatrixRhs aa_tmp=rhsMap.template triangularView(); \ MKL_INT aStride = aa_tmp.outerStride(); \ - gemm_blocking_space blocking(_rows,_cols,_depth); \ + gemm_blocking_space gemm_blocking(_rows,_cols,_depth); \ general_matrix_matrix_product::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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2007-2009 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2008-2009 Gael Guennebaud // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2006-2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2010 Thomas Capricelli // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2006-2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2006-2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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::type> str // it's important that this value can still be squared without integer overflowing. DynamicAsInteger = 10000, ScalarReadCost = NumTraits::Scalar>::ReadCost, - ScalarReadCostAsInteger = ScalarReadCost == Dynamic ? DynamicAsInteger : ScalarReadCost, + ScalarReadCostAsInteger = ScalarReadCost == Dynamic ? int(DynamicAsInteger) : int(ScalarReadCost), CoeffReadCost = traits::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 // Copyright (C) 2006-2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2009 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2011 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2006-2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2010 Jitse Niesen // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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::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 // Copyright (C) 2010 Jitse Niesen // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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::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::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::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 >& \ ComplexSchur >::compute(const Matrix& 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 // Copyright (C) 2010 Jitse Niesen // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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::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 cc = cdiv(x*lastra-lastw*ra+q*sa,x*lastsa-lastw*sa-q*ra,vr,vi); + std::complex 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 // Copyright (C) 2010 Jitse Niesen // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2010 Jitse Niesen // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // Copyright (C) 2010 Jitse Niesen // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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::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() - .eigenvalues() - .maxCoeff() - ); + .template selfadjointView() + .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 // Copyright (C) 2010 Jitse Niesen // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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& RealSchur::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& RealSchur::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 >& \ RealSchur >::compute(const Matrix& 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 // Copyright (C) 2010 Jitse Niesen // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 >& \ SelfAdjointEigenSolver >::compute(const Matrix& 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 // Copyright (C) 2010 Jitse Niesen // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2006-2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2009 Mathieu Gautier // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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& other, RealScalar prec = NumTraits::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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 - inline Transform operator* (const Transform& t) const; + inline Transform operator* (const Transform& t) const + { + Transform 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::operator* (const Translation& t) const return res; } -template -template -inline Transform -UniformScaling::operator* (const Transform& t) const -{ - Transform 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 // Copyright (C) 2010 Hauke Heibel // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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& t); inline Transform& operator*=(const UniformScaling& s) { return scale(s.factor()); } - inline Transform operator*(const UniformScaling& s) const; + inline Transform operator*(const UniformScaling& s) const + { + Transform res = *this; + res.scale(s.factor()); + return res; + } inline Transform& operator*=(const DiagonalMatrix& 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& Transform::o return *this; } -template -inline Transform Transform::operator*(const UniformScaling& s) const -{ - Transform res = *this; - res.scale(s.factor()); - return res; -} - template template inline Transform& Transform::operator=(const RotationBase& 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2009-2010 Gael Guennebaud // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2009 Gael Guennebaud // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2010 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 MatrixType; DiagonalPreconditioner() : m_isInitialized(false) {} - template - DiagonalPreconditioner(const MatrixType& mat) : m_invdiag(mat.cols()) + template + 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 - DiagonalPreconditioner& analyzePattern(const MatrixType& ) + template + DiagonalPreconditioner& analyzePattern(const MatType& ) { return *this; } - template - DiagonalPreconditioner& factorize(const MatrixType& mat) + template + DiagonalPreconditioner& factorize(const MatType& mat) { m_invdiag.resize(mat.cols()); for(int j=0; j - DiagonalPreconditioner& compute(const MatrixType& mat) + template + 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 // Copyright (C) 2012 Désiré Nuentsa-Wakam // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2009 Gael Guennebaud // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// // WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2009 Gael Guennebaud // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2009 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 VectorType; typedef Matrix IntRowVectorType; typedef Matrix IntColVectorType; + typedef Array ParameterType; enum { ScalarIsComplex = NumTraits::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& 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 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 // Copyright (C) 2009 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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, 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 >& \ ColPivHouseholderQR >::compute( \ const Matrix& 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 // Copyright (C) 2009 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // 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 . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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, ColPivHouseholderQRPreconditioner>& \ JacobiSVD, ColPivHouseholderQRPreconditioner>::compute(const Matrix& 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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, 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 @@ -175,11 +164,15 @@ class sparse_diagonal_product_inner_iterator_selector SparseInnerVectorSet, Transpose >::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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 - 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 + SparseMatrix(const ReturnByValue& 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 inline SparseMatrix& operator=(const ReturnByValue& other) - { return Base::operator=(other.derived()); } + { + initAssignment(other); + return Base::operator=(other.derived()); + } template inline SparseMatrix& operator=(const EigenBase& other) @@ -634,7 +636,6 @@ class SparseMatrix template EIGEN_DONT_INLINE SparseMatrix& operator=(const SparseMatrixBase& 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::type _OtherCopy; OtherCopy otherCopy(other.derived()); - Eigen::Map > (m_outerIndex,outerSize()).setZero(); + SparseMatrix dest(other.rows(),other.cols()); + Eigen::Map > (dest.m_outerIndex,dest.outerSize()).setZero(); + // pass 1 // FIXME the above copy could be merged with that pass for (Index j=0; jswap(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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 struct sparse_eval { template struct sparse_eval { typedef typename traits::Scalar _Scalar; - enum { _Flags = traits::Flags }; + typedef typename traits::Index _Index; + enum { _Options = ((traits::Flags&RowMajorBit)==RowMajorBit) ? RowMajor : ColMajor }; public: - typedef SparseMatrix<_Scalar, _Flags> type; + typedef SparseMatrix<_Scalar, _Options, _Index> type; }; template struct sparse_eval { 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2010 Daniel Lowengrub // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2009 Hauke Heibel // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2009 Hauke Heibel // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2009 Hauke Heibel // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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, const Derived, const ConstantReturnType> +EIGEN_STRONG_INLINE const CwiseBinaryOp, const Derived, + const CwiseNullaryOp, 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, const Derived, const ConstantReturnType> +EIGEN_STRONG_INLINE const CwiseBinaryOp, const Derived, + const CwiseNullaryOp, 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 // Copyright (C) 2006-2010 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2006-2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2006-2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2006-2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2006-2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2009 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. If a copy of the MPL was not distributed +// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #include 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. If a copy of the MPL was not distributed +// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #include 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 #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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 #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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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&); 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 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 # -# Eigen is free software; you can redistribute it and/or -# modify it under the terms of the GNU Lesser General Public -# License as published by the Free Software Foundation; either -# version 3 of the License, or (at your option) any later version. -# -# Alternatively, you can redistribute it and/or -# modify it under the terms of the GNU General Public License as -# published by the Free Software Foundation; either version 2 of -# the License, or (at your option) any later version. -# -# Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -# WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -# FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -# GNU General Public License for more details. -# -# You should have received a copy of the GNU Lesser General Public -# License and a copy of the GNU General Public License along with -# Eigen. If not, see . +# This Source Code Form is subject to the terms of the Mozilla Public +# License, v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 + MyVectorType(const Eigen::MatrixBase& other) + : Eigen::Vector3d(other) + { } + + // This method allows you to assign Eigen expressions to MyVectorType template MyVectorType & operator= (const Eigen::MatrixBase & 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: \code vec1.head(n)\endcode\code vec1.head()\endcodethe first \c n coeffs \code vec1.tail(n)\endcode\code vec1.tail()\endcodethe last \c n coeffs \code vec1.segment(pos,n)\endcode\code vec1.segment(pos)\endcode - the \c n coeffs in \n the range [\c pos : \c pos + \c n [ + the \c n coeffs in the \n range [\c pos : \c pos + \c n - 1] Read-write access to sub-matrices: 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 @@ +
+ + + + -
-doxygen
- \ No newline at end of file + 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 #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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 #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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 +# +# This Source Code Form is subject to the terms of the Mozilla +# Public License v. 2.0. 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 . +''' + +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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 void resize(const MatrixTraits& t) +{ + typedef typename MatrixTraits::Index Index; + typedef typename MatrixTraits::Scalar Scalar; + typedef Matrix MatrixType; + typedef Array Array2DType; + typedef Matrix VectorType; + typedef Array 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(1,EIGEN_TEST_MAX_SIZE))) ); CALL_SUBTEST_4( lpNorm(VectorXcf(internal::random(1,EIGEN_TEST_MAX_SIZE))) ); } + for(int i = 0; i < g_repeat; i++) { + CALL_SUBTEST_4( resize(MatrixXcf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_5( resize(MatrixXf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); + CALL_SUBTEST_6( resize(MatrixXi(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2009 Ricard Marxer // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any 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 . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 void c cols = MatrixType::ColsAtCompileTime, r = CRows, c = CCols, - sr = SRows, - sc = SCols + sr = SRows, + sc = SCols }; VERIFY_IS_EQUAL((matrix.template topLeftCorner()), (matrix.template block(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 // Copyright (C) 2006-2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2008 Gael Guennebaud // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 void diagonal(const MatrixType& m) }; // check sub/super diagonal + if(m1.template diagonal().RowsAtCompileTime!=Dynamic) + { + VERIFY(m1.template diagonal().RowsAtCompileTime == m1.diagonal(N1).size()); + } + if(m1.template diagonal().RowsAtCompileTime!=Dynamic) + { + VERIFY(m1.template diagonal().RowsAtCompileTime == m1.diagonal(N2).size()); + } + m2.template diagonal() = 2 * m1.template diagonal(); + VERIFY_IS_APPROX(m2.template diagonal(), static_cast(2) * m1.diagonal(N1)); m2.template diagonal()[0] *= 3; VERIFY_IS_APPROX(m2.template diagonal()[0], static_cast(6) * m1.template diagonal()[0]); + m2.template diagonal() = 2 * m1.template diagonal(); m2.template diagonal()[0] *= 3; VERIFY_IS_APPROX(m2.template diagonal()[0], static_cast(6) * m1.template diagonal()[0]); m2.diagonal(N1) = 2 * m1.diagonal(N1); + VERIFY_IS_APPROX(m2.diagonal(), static_cast(2) * m1.diagonal(N1)); m2.diagonal(N1)[0] *= 3; VERIFY_IS_APPROX(m2.diagonal(N1)[0], static_cast(6) * m1.diagonal(N1)[0]); m2.diagonal(N2) = 2 * m1.diagonal(N2); + VERIFY_IS_APPROX(m2.diagonal(), static_cast(2) * m1.diagonal(N2)); m2.diagonal(N2)[0] *= 3; VERIFY_IS_APPROX(m2.diagonal(N2)[0], static_cast(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()) ); + CALL_SUBTEST_1( diagonal(Matrix()) ); + CALL_SUBTEST_1( diagonal(Matrix()) ); CALL_SUBTEST_2( diagonal(Matrix4d()) ); CALL_SUBTEST_2( diagonal(MatrixXcf(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(1,EIGEN_TEST_MAX_SIZE))) ); CALL_SUBTEST_2( diagonal(MatrixXi(internal::random(1,EIGEN_TEST_MAX_SIZE), internal::random(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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 void diagonalmatrices(const MatrixType& m) rv2 = RowVectorType::Random(cols); LeftDiagonalMatrix ldm1(v1), ldm2(v2); RightDiagonalMatrix rdm1(rv1), rdm2(rv2); + + Scalar s1 = internal::random(); SquareMatrixType sq_m1 (v1.asDiagonal()); VERIFY_IS_APPROX(sq_m1, v1.asDiagonal().toDenseMatrix()); @@ -91,6 +78,13 @@ template 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2006-2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // Copyright (C) 2008 Gael Guennebaud // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // Copyright (C) 2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2006-2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // Copyright (C) 2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. If a copy of the MPL was not distributed +// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #include #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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2008 Gael Guennebaud // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. If a copy of the MPL was not distributed +// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #include #include @@ -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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2010 Jitse Niesen // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // Copyright (C) 2010 Jitse Niesen // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // Copyright (C) 2010 Jitse Niesen // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // Copyright (C) 2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // Copyright (C) 2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // Copyright (C) 2009 Mathieu Gautier // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 @@ -415,6 +400,9 @@ template void transformations() Rotation2D r2d1d = r2d1.template cast(); VERIFY_IS_APPROX(r2d1d.template cast(),r2d1); + t20 = Translation2(v20) * (Rotation2D(s0) * Scaling(s0)); + t21 = Translation2(v20) * Rotation2D(s0) * Scaling(s0); + VERIFY_IS_APPROX(t20,t21); } template 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 // Copyright (C) 2010 Jitse Niesen // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 @@ -39,7 +24,7 @@ template 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // Copyright (C) 2009 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // Copyright (C) 2009 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // Copyright (C) 2008 Gael Guennebaud // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. If a copy of the MPL was not distributed +// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #include #include 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2006-2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 cpQR; cpQR.compute(A); - // FIXME X = cpQR.solve(B); + X = cpQR.solve(B); x = cpQR.solve(b); Eigen::FullPivHouseholderQR 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2006-2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2012 Désiré Nuentsa-Wakam // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 #include 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in 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 . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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(1,EIGEN_TEST_MAX_SIZE/2), internal::random(1,EIGEN_TEST_MAX_SIZE/2))) ); CALL_SUBTEST_4( product_extra(MatrixXcd(internal::random(1,EIGEN_TEST_MAX_SIZE/2), internal::random(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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // Copyright (C) 2009 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // Copyright (C) 2009 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // Copyright (C) 2008 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 @@ -40,7 +25,7 @@ template 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(), 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2008 Daniel Gomez Ferro // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2010 Hauke Heibel // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // Copyright (C) 2010 Hauke Heibel // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // Copyright (C) 2010 Hauke Heibel // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any 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 . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2010 Gael Guennebaud // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// 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 . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2012 Kolja Brix // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2011 Andreas Platen // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2011 Chen-Pang He // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 EIGEN_STRONG_INLINE void MatrixExponential::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 EIGEN_STRONG_INLINE void MatrixExponential::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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 ::Scalar>::IsComplex> class MatrixFunction { @@ -267,13 +252,13 @@ void MatrixFunction::partitionEigenvalues() // Look for other element to add to the set for (Index j=i+1; jbegin(), 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::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::DynMatrixType MatrixFunction AXmatrix = A.row(i).tail(m-1-i) * X.col(j).tail(m-1-i); - AX = AXmatrix(0,0); + Matrix 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 XBmatrix = X.row(i).head(j) * B.col(j).head(j); - XB = XBmatrix(0,0); + Matrix 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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::computeMu() /** \brief Determine whether Taylor series has converged */ template bool MatrixFunctionAtomic::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 // Copyright (C) 2011 Chen-Pang He // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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::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 int MatrixLogarithmAtomic::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::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::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 class MatrixLogarithmReturnValue : public ReturnByValue > 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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::compute(ResultType &result) // post: the diagonal blocks of sqrtT are the square roots of the diagonal blocks of T template void MatrixSquareRootQuasiTriangular::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::computeDiagonalPartOfSqrt(Matr // post: sqrtT is the square root of T. template void MatrixSquareRootQuasiTriangular::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 template void MatrixSquareRootQuasiTriangular ::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 template void MatrixSquareRootQuasiTriangular ::compute1x2offDiagonalBlock(MatrixType& sqrtT, const MatrixType& T, - typename MatrixType::Index i, typename MatrixType::Index j) + typename MatrixType::Index i, typename MatrixType::Index j) { Matrix rhs = T.template block<1,2>(i,j); if (j-i > 1) @@ -198,7 +183,7 @@ void MatrixSquareRootQuasiTriangular template void MatrixSquareRootQuasiTriangular ::compute2x1offDiagonalBlock(MatrixType& sqrtT, const MatrixType& T, - typename MatrixType::Index i, typename MatrixType::Index j) + typename MatrixType::Index i, typename MatrixType::Index j) { Matrix rhs = T.template block<2,1>(i,j); if (j-i > 2) @@ -212,7 +197,7 @@ void MatrixSquareRootQuasiTriangular template void MatrixSquareRootQuasiTriangular ::compute2x2offDiagonalBlock(MatrixType& sqrtT, const MatrixType& T, - typename MatrixType::Index i, typename MatrixType::Index j) + typename MatrixType::Index i, typename MatrixType::Index j) { Matrix A = sqrtT.template block<2,2>(i,i); Matrix B = sqrtT.template block<2,2>(j,j); @@ -229,10 +214,10 @@ template template void MatrixSquareRootQuasiTriangular ::solveAuxiliaryEquation(SmallMatrixType& X, const SmallMatrixType& A, - const SmallMatrixType& B, const SmallMatrixType& C) + const SmallMatrixType& B, const SmallMatrixType& C) { EIGEN_STATIC_ASSERT((internal::is_same >::value), - EIGEN_INTERNAL_ERROR_PLEASE_FILE_A_BUG_REPORT); + EIGEN_INTERNAL_ERROR_PLEASE_FILE_A_BUG_REPORT); Matrix coeffMatrix = Matrix::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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2009 Benoit Jacob // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // Copyright (C) 2012 Desire NUENTSA WAKAM // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // Copyright (C) 2012 Kolja Brix // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // Copyright (C) 2011 Andreas Platen // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 @@ -39,7 +24,7 @@ struct generateTestMatrix typename EigenSolver::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 #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;ixp?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 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(exp)s+exp) ptr--; + // Make human eye-friendly formatting if possible + if (exp>0 && static_cast(exp)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(exp,std::dec); - else out += "e"+mpfr::toString(exp,std::dec); - } - } + // Make final string + if(--exp) + { + if(exp>0) out += "e+"+mpfr::toString(exp,std::dec); + else out += "e"+mpfr::toString(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<(os.precision())); + return os<(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 // 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) // is available only in msvc2010! - #if (_MSC_VER >= 1600) - #include - #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 // 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 // use int64_t, uint64_t otherwise. - #endif - #endif + #if defined(_MSC_VER) // is available only in msvc2010! + #if (_MSC_VER >= 1600) + #include + #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 // 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 // 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 #if (MPFR_VERSION < MPFR_VERSION_NUM(3,0,0)) - #include // needed for random() + #include // 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 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 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= ; Show value only - // mpfr::mpreal=, 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= ; Show value only + // mpfr::mpreal=, 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 struct result_type {}; - - template <> struct result_type {typedef mpreal type;}; - template <> struct result_type {typedef mpreal type;}; - template <> struct result_type {typedef mpreal type;}; - template <> struct result_type {typedef mpreal type;}; - template <> struct result_type {typedef mpreal type;}; - template <> struct result_type {typedef mpreal type;}; - template <> struct result_type {typedef mpreal type;}; - template <> struct result_type {typedef mpreal type;}; - template <> struct result_type {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 struct result_type {}; + + template <> struct result_type {typedef mpreal type;}; + template <> struct result_type {typedef mpreal type;}; + template <> struct result_type {typedef mpreal type;}; + template <> struct result_type {typedef mpreal type;}; + template <> struct result_type {typedef mpreal type;}; + template <> struct result_type {typedef mpreal type;}; + template <> struct result_type {typedef mpreal type;}; + template <> struct result_type {typedef mpreal type;}; + template <> struct result_type {typedef mpreal type;}; #if defined (MPREAL_HAVE_INT64_SUPPORT) - template <> struct result_type {typedef mpreal type;}; - template <> struct result_type {typedef mpreal type;}; + template <> struct result_type {typedef mpreal type;}; + template <> struct result_type {typedef mpreal type;}; #endif } // + Addition template inline const typename internal::result_type::type - operator+(const mpreal& lhs, const Rhs& rhs){ return mpreal(lhs) += rhs; } + operator+(const mpreal& lhs, const Rhs& rhs){ return mpreal(lhs) += rhs; } template inline const typename internal::result_type::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 inline const typename internal::result_type::type - operator-(const mpreal& lhs, const Rhs& rhs){ return mpreal(lhs) -= rhs; } + operator-(const mpreal& lhs, const Rhs& rhs){ return mpreal(lhs) -= rhs; } template inline const typename internal::result_type::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 inline const typename internal::result_type::type - operator*(const mpreal& lhs, const Rhs& rhs){ return mpreal(lhs) *= rhs; } + operator*(const mpreal& lhs, const Rhs& rhs){ return mpreal(lhs) *= rhs; } template inline const typename internal::result_type::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 inline const typename internal::result_type::type - operator/(const mpreal& lhs, const Rhs& rhs){ return mpreal(lhs) /= rhs; } + operator/(const mpreal& lhs, const Rhs& rhs){ return mpreal(lhs) /= rhs; } template inline const typename internal::result_type::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(u),default_rnd); - MPREAL_MSVC_DEBUGVIEW_CODE; - return *this; + mpfr_mul_2ui(mp,mp,static_cast(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(u),default_rnd); - MPREAL_MSVC_DEBUGVIEW_CODE; - return *this; + mpfr_mul_2si(mp,mp,static_cast(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(u),default_rnd); - MPREAL_MSVC_DEBUGVIEW_CODE; - return *this; + mpfr_div_2ui(mp,mp,static_cast(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(u),default_rnd); - MPREAL_MSVC_DEBUGVIEW_CODE; - return *this; + mpfr_div_2si(mp,mp,static_cast(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(k)); + return mul_2ui(v,static_cast(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(k)); + return mul_2si(v,static_cast(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(k)); + return div_2ui(v,static_cast(k)); } inline const mpreal operator>>(const mpreal& v, const int k) { - return div_2si(v,static_cast(k)); + return div_2si(v,static_cast(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(v),rnd_mode); + return sqrt(static_cast(v),rnd_mode); } inline const mpreal sqrt(const long int v, mp_rnd_t rnd_mode) { - if (v>=0) return sqrt(static_cast(v),rnd_mode); - else return mpreal().setNan(); // NaN + if (v>=0) return sqrt(static_cast(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(v),rnd_mode); - else return mpreal().setNan(); // NaN + if (v>=0) return sqrt(static_cast(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= 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((mpfr_get_default_rounding_mode)()); + return static_cast((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(b),rnd_mode); + return pow(a,static_cast(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(b),rnd_mode); + return pow(a,static_cast(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(a),b,rnd_mode); + return pow(static_cast(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(a),b,rnd_mode); - else return pow(mpreal(a),b,rnd_mode); + if (a>=0) return pow(static_cast(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(a),b,rnd_mode); - else return pow(mpreal(a),b,rnd_mode); + if (a>=0) return pow(static_cast(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(b),rnd_mode); //mpfr_ui_pow_ui + return pow(a,static_cast(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(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(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(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(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(a),b,rnd_mode); //mpfr_ui_pow_ui + return pow(static_cast(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(a),static_cast(b),rnd_mode); //mpfr_ui_pow_ui + return pow(static_cast(a),static_cast(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(a),static_cast(b),rnd_mode); //mpfr_ui_pow_ui - else return pow(static_cast(a),mpreal(b),rnd_mode); //mpfr_ui_pow + if(b>0) return pow(static_cast(a),static_cast(b),rnd_mode); //mpfr_ui_pow_ui + else return pow(static_cast(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(a),static_cast(b),rnd_mode); //mpfr_ui_pow_ui - else return pow(static_cast(a),mpreal(b),rnd_mode); //mpfr_ui_pow + if(b>0) return pow(static_cast(a),static_cast(b),rnd_mode); //mpfr_ui_pow_ui + else return pow(static_cast(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(a),mpreal(b),rnd_mode); //mpfr_ui_pow + return pow(static_cast(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(a),mpreal(b),rnd_mode); //mpfr_ui_pow + return pow(static_cast(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(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(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(a),static_cast(b),rnd_mode); //mpfr_ui_pow_ui - else return pow(mpreal(a),static_cast(b),rnd_mode); //mpfr_pow_ui + if (a>0) return pow(static_cast(a),static_cast(b),rnd_mode); //mpfr_ui_pow_ui + else return pow(mpreal(a),static_cast(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(a),static_cast(b),rnd_mode); //mpfr_ui_pow_ui - else return pow(static_cast(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(a),static_cast(b),rnd_mode); //mpfr_ui_pow_ui + else return pow(static_cast(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(a),static_cast(b),rnd_mode); //mpfr_ui_pow_ui - else return pow(static_cast(a),mpreal(b),rnd_mode); //mpfr_ui_pow - }else{ - return pow(mpreal(a),static_cast(b),rnd_mode); // mpfr_pow_si - } + if (a>0) + { + if(b>0) return pow(static_cast(a),static_cast(b),rnd_mode); //mpfr_ui_pow_ui + else return pow(static_cast(a),mpreal(b),rnd_mode); //mpfr_ui_pow + }else{ + return pow(mpreal(a),static_cast(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(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(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(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(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(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(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(a),static_cast(b),rnd_mode); //mpfr_ui_pow_ui - else return pow(mpreal(a),static_cast(b),rnd_mode); //mpfr_pow_ui + if (a>0) return pow(static_cast(a),static_cast(b),rnd_mode); //mpfr_ui_pow_ui + else return pow(mpreal(a),static_cast(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(a),static_cast(b),rnd_mode); //mpfr_ui_pow_ui - else return pow(static_cast(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(a),static_cast(b),rnd_mode); //mpfr_ui_pow_ui + else return pow(static_cast(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(a),static_cast(b),rnd_mode); //mpfr_ui_pow_ui - else return pow(static_cast(a),mpreal(b),rnd_mode); //mpfr_ui_pow - }else{ - return pow(mpreal(a),static_cast(b),rnd_mode); // mpfr_pow_si - } + if (a>0) + { + if(b>0) return pow(static_cast(a),static_cast(b),rnd_mode); //mpfr_ui_pow_ui + else return pow(static_cast(a),mpreal(b),rnd_mode); //mpfr_ui_pow + }else{ + return pow(mpreal(a),static_cast(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(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(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(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(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(b),rnd_mode); //mpfr_pow_ui + return pow(mpreal(a),static_cast(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(b),rnd_mode); // mpfr_pow_si + return pow(mpreal(a),static_cast(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(b),rnd_mode); // mpfr_pow_ui + return pow(mpreal(a),static_cast(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(b),rnd_mode); // mpfr_pow_si + return pow(mpreal(a),static_cast(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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. If a copy of the MPL was not distributed +// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. #include #include 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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 // -// Eigen is free software; you can redistribute it and/or -// modify it under the terms of the GNU Lesser General Public -// License as published by the Free Software Foundation; either -// version 3 of the License, or (at your option) any later version. -// -// Alternatively, you can redistribute it and/or -// modify it under the terms of the GNU General Public License as -// published by the Free Software Foundation; either version 2 of -// the License, or (at your option) any later version. -// -// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY -// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS -// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU Lesser General Public -// License and a copy of the GNU General Public License along with -// Eigen. If not, see . +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. 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/base/blockMatrices.h b/gtsam/base/blockMatrices.h index a23f71e43..973d63247 100644 --- a/gtsam/base/blockMatrices.h +++ b/gtsam/base/blockMatrices.h @@ -137,7 +137,8 @@ public: assertInvariants(); size_t actualStartBlock = startBlock + blockStart_; size_t actualEndBlock = endBlock + blockStart_; - checkBlock(actualStartBlock); + if(startBlock != 0 && endBlock != 0) + checkBlock(actualStartBlock); assert(actualEndBlock < variableColOffsets_.size()); const size_t& startCol = variableColOffsets_[actualStartBlock]; const size_t& endCol = variableColOffsets_[actualEndBlock]; @@ -148,7 +149,8 @@ public: assertInvariants(); size_t actualStartBlock = startBlock + blockStart_; size_t actualEndBlock = endBlock + blockStart_; - checkBlock(actualStartBlock); + if(startBlock != 0 && endBlock != 0) + checkBlock(actualStartBlock); assert(actualEndBlock < variableColOffsets_.size()); const size_t& startCol = variableColOffsets_[actualStartBlock]; const size_t& endCol = variableColOffsets_[actualEndBlock]; diff --git a/gtsam/base/timing.h b/gtsam/base/timing.h index d9ead33dd..7bd030ed0 100644 --- a/gtsam/base/timing.h +++ b/gtsam/base/timing.h @@ -20,12 +20,11 @@ #include #include #include +#include #include #include -// Enabling the new Boost timers introduces dependencies on other Boost -// libraries so this is disabled for now until we modify the build scripts -// to link each component or MATLAB wrapper with only the libraries it needs. +// Automatically use the new Boost timers if version is recent enough. #if BOOST_VERSION >= 104800 #define GTSAM_USING_NEW_BOOST_TIMERS #endif diff --git a/gtsam/inference/BayesNet-inl.h b/gtsam/inference/BayesNet-inl.h index 5375b209f..0fe78fbed 100644 --- a/gtsam/inference/BayesNet-inl.h +++ b/gtsam/inference/BayesNet-inl.h @@ -118,16 +118,16 @@ namespace gtsam { } /* ************************************************************************* */ - //template - //bool BayesNet::permuteSeparatorWithInverse( - // const Permutation& inversePermutation) { - // bool separatorChanged = false; - // BOOST_FOREACH(sharedConditional conditional, conditionals_) { - // if (conditional->permuteSeparatorWithInverse(inversePermutation)) - // separatorChanged = true; - // } - // return separatorChanged; - //} + template + bool BayesNet::permuteSeparatorWithInverse( + const Permutation& inversePermutation) { + bool separatorChanged = false; + BOOST_FOREACH(sharedConditional conditional, conditionals_) { + if (conditional->permuteSeparatorWithInverse(inversePermutation)) + separatorChanged = true; + } + return separatorChanged; + } /* ************************************************************************* */ template diff --git a/gtsam/inference/BayesNet.h b/gtsam/inference/BayesNet.h index f8aaa7d17..1077c1cad 100644 --- a/gtsam/inference/BayesNet.h +++ b/gtsam/inference/BayesNet.h @@ -225,7 +225,7 @@ public: * Returns true if any reordered variables appeared in the separator and * false if not. */ - //bool permuteSeparatorWithInverse(const Permutation& inversePermutation); + bool permuteSeparatorWithInverse(const Permutation& inversePermutation); iterator begin() {return conditionals_.begin();} /// -// bool BayesTreeCliqueBase::permuteSeparatorWithInverse( -// const Permutation& inversePermutation) { -// bool changed = conditional_->permuteSeparatorWithInverse( -// inversePermutation); -//#ifndef NDEBUG -// if(!changed) { -// BOOST_FOREACH(Index& separatorKey, conditional_->parents()) {assert(separatorKey == inversePermutation[separatorKey]);} -// BOOST_FOREACH(const derived_ptr& child, children_) { -// assert(child->permuteSeparatorWithInverse(inversePermutation) == false); -// } -// } -//#endif -// if (changed) { -// BOOST_FOREACH(const derived_ptr& child, children_) { -// (void) child->permuteSeparatorWithInverse(inversePermutation); -// } -// } -// assertInvariants(); -// return changed; -// } - /* ************************************************************************* */ template - bool BayesTreeCliqueBase::reduceSeparatorWithInverse( - const internal::Reduction& inverseReduction) - { - bool changed = conditional_->reduceSeparatorWithInverse(inverseReduction); + bool BayesTreeCliqueBase::permuteSeparatorWithInverse( + const Permutation& inversePermutation) { + bool changed = conditional_->permuteSeparatorWithInverse( + inversePermutation); #ifndef NDEBUG if(!changed) { + BOOST_FOREACH(Index& separatorKey, conditional_->parents()) {assert(separatorKey == inversePermutation[separatorKey]);} BOOST_FOREACH(const derived_ptr& child, children_) { - assert(child->reduceSeparatorWithInverse(inverseReduction) == false); } + assert(child->permuteSeparatorWithInverse(inversePermutation) == false); + } } #endif - if(changed) { + if (changed) { BOOST_FOREACH(const derived_ptr& child, children_) { - (void) child->reduceSeparatorWithInverse(inverseReduction); } + (void) child->permuteSeparatorWithInverse(inversePermutation); + } } assertInvariants(); return changed; diff --git a/gtsam/inference/BayesTreeCliqueBase.h b/gtsam/inference/BayesTreeCliqueBase.h index a00980983..487d10a0d 100644 --- a/gtsam/inference/BayesTreeCliqueBase.h +++ b/gtsam/inference/BayesTreeCliqueBase.h @@ -183,14 +183,7 @@ namespace gtsam { * traversing the whole tree. Returns whether any separator variables in * this subtree were reordered. */ - //bool permuteSeparatorWithInverse(const Permutation& inversePermutation); - - /** Permute variables when they only appear in the separators. In this - * case the running intersection property will be used to prevent always - * traversing the whole tree. Returns whether any separator variables in - * this subtree were reordered. - */ - bool reduceSeparatorWithInverse(const internal::Reduction& inverseReduction); + bool permuteSeparatorWithInverse(const Permutation& inversePermutation); /** return the conditional P(S|Root) on the separator given the root */ BayesNet shortcut(derived_ptr root, Eliminate function) const; diff --git a/gtsam/inference/FactorGraph-inl.h b/gtsam/inference/FactorGraph-inl.h index 9125ff31b..783ed1db3 100644 --- a/gtsam/inference/FactorGraph-inl.h +++ b/gtsam/inference/FactorGraph-inl.h @@ -153,7 +153,7 @@ namespace gtsam { template std::pair::sharedConditional, FactorGraph > FactorGraph::eliminate(const std::vector& variables, const Eliminate& eliminateFcn, - boost::optional variableIndex_) + boost::optional variableIndex_) const { const VariableIndex& variableIndex = variableIndex_ ? *variableIndex_ : VariableIndex(*this); @@ -177,22 +177,31 @@ namespace gtsam { *std::max_element(factor->begin(), factor->end())); } - // Now permute the variables to be eliminated to the front of the ordering - Permutation toFront = Permutation::PullToFront(variables, highestInvolvedVariable+1); - Permutation toFrontInverse = *toFront.inverse(); - BOOST_FOREACH(const sharedFactor& factor, involvedFactors) { - factor->permuteWithInverse(toFrontInverse); + sharedConditional conditional; + sharedFactor remainingFactor; + if(involvedFactors.size() > 0) { + // Now permute the variables to be eliminated to the front of the ordering + Permutation toFront = Permutation::PullToFront(variables, highestInvolvedVariable+1); + Permutation toFrontInverse = *toFront.inverse(); + BOOST_FOREACH(const sharedFactor& factor, involvedFactors) { + factor->permuteWithInverse(toFrontInverse); + } + + // Eliminate into conditional and remaining factor + EliminationResult eliminated = eliminateFcn(involvedFactors, variables.size()); + conditional = eliminated.first; + remainingFactor = eliminated.second; + + // Undo the permutation + conditional->permuteWithInverse(toFront); + remainingFactor->permuteWithInverse(toFront); + } else { + // Eliminate 0 variables + EliminationResult eliminated = eliminateFcn(involvedFactors, 0); + conditional = eliminated.first; + remainingFactor = eliminated.second; } - // Eliminate into conditional and remaining factor - EliminationResult eliminated = eliminateFcn(involvedFactors, variables.size()); - sharedConditional conditional = eliminated.first; - sharedFactor remainingFactor = eliminated.second; - - // Undo the permutation - conditional->permuteWithInverse(toFront); - remainingFactor->permuteWithInverse(toFront); - // Build the remaining graph, without the removed factors FactorGraph remainingGraph; remainingGraph.reserve(this->size() - involvedFactors.size() + 1); diff --git a/gtsam/inference/FactorGraph.h b/gtsam/inference/FactorGraph.h index 53642dd76..70954152f 100644 --- a/gtsam/inference/FactorGraph.h +++ b/gtsam/inference/FactorGraph.h @@ -199,12 +199,12 @@ class VariableIndex; */ std::pair > eliminate( const std::vector& variables, const Eliminate& eliminateFcn, - boost::optional variableIndex = boost::none); + boost::optional variableIndex = boost::none) const; /** Eliminate a single variable, by calling FactorGraph::eliminate. */ std::pair > eliminateOne( KeyType variable, const Eliminate& eliminateFcn, - boost::optional variableIndex = boost::none) { + boost::optional variableIndex = boost::none) const { std::vector variables(1, variable); return eliminate(variables, eliminateFcn, variableIndex); } diff --git a/gtsam/inference/IndexConditional.cpp b/gtsam/inference/IndexConditional.cpp index 1a5e6d516..e0993a9a1 100644 --- a/gtsam/inference/IndexConditional.cpp +++ b/gtsam/inference/IndexConditional.cpp @@ -44,33 +44,16 @@ namespace gtsam { } /* ************************************************************************* */ - //bool IndexConditional::permuteSeparatorWithInverse(const Permutation& inversePermutation) { - //#ifndef NDEBUG - // BOOST_FOREACH(KeyType key, frontals()) { assert(key == inversePermutation[key]); } - //#endif - // bool parentChanged = false; - // BOOST_FOREACH(KeyType& parent, parents()) { - // KeyType newParent = inversePermutation[parent]; - // if(parent != newParent) { - // parentChanged = true; - // parent = newParent; - // } - // } - // assertInvariants(); - // return parentChanged; - //} - - /* ************************************************************************* */ - bool IndexConditional::reduceSeparatorWithInverse(const internal::Reduction& inverseReduction) { -#ifndef NDEBUG - BOOST_FOREACH(KeyType key, frontals()) { assert(inverseReduction.find(key) == inverseReduction.end()); } -#endif + bool IndexConditional::permuteSeparatorWithInverse(const Permutation& inversePermutation) { + #ifndef NDEBUG + BOOST_FOREACH(KeyType key, frontals()) { assert(key == inversePermutation[key]); } + #endif bool parentChanged = false; BOOST_FOREACH(KeyType& parent, parents()) { - internal::Reduction::const_iterator it = inverseReduction.find(parent); - if(it != inverseReduction.end()) { + KeyType newParent = inversePermutation[parent]; + if(parent != newParent) { parentChanged = true; - parent = it->second; + parent = newParent; } } assertInvariants(); diff --git a/gtsam/inference/IndexConditional.h b/gtsam/inference/IndexConditional.h index 9643b1a84..895592547 100644 --- a/gtsam/inference/IndexConditional.h +++ b/gtsam/inference/IndexConditional.h @@ -112,13 +112,7 @@ namespace gtsam { * Returns true if any reordered variables appeared in the separator and * false if not. */ - //bool permuteSeparatorWithInverse(const Permutation& inversePermutation); - - /** Permute the variables when only separator variables need to be permuted. - * Returns true if any reordered variables appeared in the separator and - * false if not. - */ - bool reduceSeparatorWithInverse(const internal::Reduction& inverseReduction); + bool permuteSeparatorWithInverse(const Permutation& inversePermutation); /** * Permutes the Conditional, but for efficiency requires the permutation diff --git a/gtsam/inference/Permutation.cpp b/gtsam/inference/Permutation.cpp index bd6d50c22..883041b86 100644 --- a/gtsam/inference/Permutation.cpp +++ b/gtsam/inference/Permutation.cpp @@ -161,16 +161,6 @@ namespace internal { return result; } - /* ************************************************************************* */ - Reduction Reduction::CreateFromPartialPermutation(const Permutation& selector, const Permutation& p) { - if(selector.size() != p.size()) - throw invalid_argument("internal::Reduction::CreateFromPartialPermutation called with selector and permutation of different sizes"); - Reduction result; - for(size_t dstSlot = 0; dstSlot < p.size(); ++dstSlot) - result.insert(make_pair(selector[dstSlot], selector[p[dstSlot]])); - return result; - } - /* ************************************************************************* */ void Reduction::applyInverse(std::vector& js) const { BOOST_FOREACH(Index& j, js) { @@ -193,10 +183,10 @@ namespace internal { } /* ************************************************************************* */ - const Index& Reduction::operator[](const Index& j) { + Index& Reduction::operator[](const Index& j) { iterator it = this->find(j); if(it == this->end()) - return j; + throw std::out_of_range("Index to Reduction::operator[] not present"); else return it->second; } @@ -205,7 +195,7 @@ namespace internal { const Index& Reduction::operator[](const Index& j) const { const_iterator it = this->find(j); if(it == this->end()) - return j; + throw std::out_of_range("Index to Reduction::operator[] not present"); else return it->second; } @@ -217,11 +207,6 @@ namespace internal { cout << " " << p.first << " : " << p.second << endl; } - /* ************************************************************************* */ - bool Reduction::equals(const Reduction& other, double tol) const { - return (const Base&)(*this) == (const Base&)other; - } - /* ************************************************************************* */ Permutation createReducingPermutation(const std::set& indices) { Permutation p(indices.size()); diff --git a/gtsam/inference/Permutation.h b/gtsam/inference/Permutation.h index 4fbd06199..6014d704e 100644 --- a/gtsam/inference/Permutation.h +++ b/gtsam/inference/Permutation.h @@ -192,14 +192,12 @@ namespace internal { typedef gtsam::FastMap Base; static Reduction CreateAsInverse(const Permutation& p); - static Reduction CreateFromPartialPermutation(const Permutation& selector, const Permutation& p); void applyInverse(std::vector& js) const; Permutation inverse() const; - const Index& operator[](const Index& j); + Index& operator[](const Index& j); const Index& operator[](const Index& j) const; void print(const std::string& s="") const; - bool equals(const Reduction& other, double tol = 1e-9) const; }; // Reduce the variable indices so that those in the set are mapped to start at zero diff --git a/gtsam/inference/SymbolicFactorGraph.cpp b/gtsam/inference/SymbolicFactorGraph.cpp index 05678f26f..ccb421d52 100644 --- a/gtsam/inference/SymbolicFactorGraph.cpp +++ b/gtsam/inference/SymbolicFactorGraph.cpp @@ -72,14 +72,14 @@ namespace gtsam { /* ************************************************************************* */ std::pair - SymbolicFactorGraph::eliminate(const std::vector& variables) + SymbolicFactorGraph::eliminate(const std::vector& variables) const { return FactorGraph::eliminate(variables, EliminateSymbolic); } /* ************************************************************************* */ std::pair - SymbolicFactorGraph::eliminateOne(Index variable) + SymbolicFactorGraph::eliminateOne(Index variable) const { return FactorGraph::eliminateOne(variable, EliminateSymbolic); } diff --git a/gtsam/inference/SymbolicFactorGraph.h b/gtsam/inference/SymbolicFactorGraph.h index 5b5d19a62..9ea1255bc 100644 --- a/gtsam/inference/SymbolicFactorGraph.h +++ b/gtsam/inference/SymbolicFactorGraph.h @@ -83,10 +83,10 @@ namespace gtsam { * FactorGraph::eliminate with EliminateSymbolic as the eliminate * function argument. */ - std::pair eliminate(const std::vector& variables); + std::pair eliminate(const std::vector& variables) const; /** Eliminate a single variable, by calling SymbolicFactorGraph::eliminate. */ - std::pair eliminateOne(Index variable); + std::pair eliminateOne(Index variable) const; /// @} /// @name Standard Interface diff --git a/gtsam/inference/VariableIndex.cpp b/gtsam/inference/VariableIndex.cpp index 11ce68ec6..7e51c3d37 100644 --- a/gtsam/inference/VariableIndex.cpp +++ b/gtsam/inference/VariableIndex.cpp @@ -76,20 +76,6 @@ void VariableIndex::permuteInPlace(const Permutation& permutation) { index_.swap(newIndex); } -/* ************************************************************************* */ -void VariableIndex::permuteInPlace(const Permutation& selector, const Permutation& permutation) { - if(selector.size() != permutation.size()) - throw invalid_argument("VariableIndex::permuteInPlace (partial permutation version) called with selector and permutation of different sizes."); - // Create new index the size of the permuted entries - vector newIndex(selector.size()); - // Permute the affected entries into the new index - for(size_t dstSlot = 0; dstSlot < selector.size(); ++dstSlot) - newIndex[dstSlot].swap(this->index_[selector[permutation[dstSlot]]]); - // Put the affected entries back in the new order - for(size_t slot = 0; slot < selector.size(); ++slot) - this->index_[selector[slot]].swap(newIndex[slot]); -} - /* ************************************************************************* */ void VariableIndex::removeUnusedAtEnd(size_t nToRemove) { #ifndef NDEBUG diff --git a/gtsam/inference/VariableIndex.h b/gtsam/inference/VariableIndex.h index adfbd206f..d465b57eb 100644 --- a/gtsam/inference/VariableIndex.h +++ b/gtsam/inference/VariableIndex.h @@ -135,9 +135,6 @@ public: /// Permute the variables in the VariableIndex according to the given permutation void permuteInPlace(const Permutation& permutation); - /// Permute the variables in the VariableIndex according to the given partial permutation - void permuteInPlace(const Permutation& selector, const Permutation& permutation); - /** Remove unused empty variables at the end of the ordering (in debug mode * verifies they are empty). * @param nToRemove The number of unused variables at the end to remove @@ -145,11 +142,11 @@ public: void removeUnusedAtEnd(size_t nToRemove); protected: - Factor_iterator factorsBegin(Index variable) { checkVar(variable); return index_[variable].begin(); } /// Permutation::shared_ptr PermutationCOLAMD( const VariableIndex& variableIndex, const CONSTRAINED& constrainLast, bool forceOrder) { + gttic(PermutationCOLAMD_constrained); size_t n = variableIndex.size(); std::vector cmember(n, 0); @@ -59,6 +60,7 @@ Permutation::shared_ptr PermutationCOLAMD( template Permutation::shared_ptr PermutationCOLAMDGrouped( const VariableIndex& variableIndex, const CONSTRAINED_MAP& constraints) { + gttic(PermutationCOLAMD_grouped); size_t n = variableIndex.size(); std::vector cmember(n, 0); @@ -74,6 +76,7 @@ Permutation::shared_ptr PermutationCOLAMDGrouped( /* ************************************************************************* */ inline Permutation::shared_ptr PermutationCOLAMD(const VariableIndex& variableIndex) { + gttic(PermutationCOLAMD_unconstrained); size_t n = variableIndex.size(); std::vector cmember(n, 0); return PermutationCOLAMD_(variableIndex, cmember); diff --git a/gtsam/inference/inference.cpp b/gtsam/inference/inference.cpp index 3cddc4cfc..f93402033 100644 --- a/gtsam/inference/inference.cpp +++ b/gtsam/inference/inference.cpp @@ -33,6 +33,9 @@ namespace inference { /* ************************************************************************* */ Permutation::shared_ptr PermutationCOLAMD_(const VariableIndex& variableIndex, std::vector& cmember) { + gttic(PermutationCOLAMD_internal); + + gttic(Prepare); size_t nEntries = variableIndex.nEntries(), nFactors = variableIndex.nFactors(), nVars = variableIndex.size(); // Convert to compressed column major format colamd wants it in (== MATLAB format!) int Alen = ccolamd_recommended(nEntries, nFactors, nVars); /* colamd arg 3: size of the array A */ @@ -69,9 +72,12 @@ Permutation::shared_ptr PermutationCOLAMD_(const VariableIndex& variableIndex, s int stats[CCOLAMD_STATS]; /* colamd arg 7: colamd output statistics and error codes */ + gttoc(Prepare); + // call colamd, result will be in p /* returns (1) if successful, (0) otherwise*/ if(nVars > 0) { + gttic(ccolamd); int rv = ccolamd(nFactors, nVars, Alen, &A[0], &p[0], knobs, stats, &cmember[0]); if(rv != 1) throw runtime_error((boost::format("ccolamd failed with return value %1%")%rv).str()); @@ -79,6 +85,7 @@ Permutation::shared_ptr PermutationCOLAMD_(const VariableIndex& variableIndex, s // ccolamd_report(stats); + gttic(Create_permutation); // Convert elimination ordering in p to an ordering Permutation::shared_ptr permutation(new Permutation(nVars)); for (Index j = 0; j < nVars; j++) { @@ -89,6 +96,7 @@ Permutation::shared_ptr PermutationCOLAMD_(const VariableIndex& variableIndex, s if(debug) cout << "COLAMD: " << j << "->" << p[j] << endl; } if(debug) cout << "COLAMD: p[" << nVars << "] = " << p[nVars] << endl; + gttoc(Create_permutation); return permutation; } diff --git a/gtsam/inference/tests/testPermutation.cpp b/gtsam/inference/tests/testPermutation.cpp index 98e94b4f7..1ccafb1a2 100644 --- a/gtsam/inference/tests/testPermutation.cpp +++ b/gtsam/inference/tests/testPermutation.cpp @@ -25,7 +25,6 @@ using namespace gtsam; using namespace std; -/* ************************************************************************* */ TEST(Permutation, Identity) { Permutation expected(5); expected[0] = 0; @@ -39,7 +38,6 @@ TEST(Permutation, Identity) { EXPECT(assert_equal(expected, actual)); } -/* ************************************************************************* */ TEST(Permutation, PullToFront) { Permutation expected(5); expected[0] = 4; @@ -57,7 +55,6 @@ TEST(Permutation, PullToFront) { EXPECT(assert_equal(expected, actual)); } -/* ************************************************************************* */ TEST(Permutation, PushToBack) { Permutation expected(5); expected[0] = 1; @@ -75,7 +72,6 @@ TEST(Permutation, PushToBack) { EXPECT(assert_equal(expected, actual)); } -/* ************************************************************************* */ TEST(Permutation, compose) { Permutation p1(5); p1[0] = 1; @@ -108,25 +104,6 @@ TEST(Permutation, compose) { LONGS_EQUAL(p1[p2[4]], actual[4]); } -/* ************************************************************************* */ -TEST(Reduction, CreateFromPartialPermutation) { - Permutation selector(3); - selector[0] = 2; - selector[1] = 4; - selector[2] = 6; - Permutation p(3); - p[0] = 2; - p[1] = 0; - p[2] = 1; - - internal::Reduction expected; - expected.insert(make_pair(2,6)); - expected.insert(make_pair(4,2)); - expected.insert(make_pair(6,4)); - - internal::Reduction actual = internal::Reduction::CreateFromPartialPermutation(selector, p); -} - /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } diff --git a/gtsam/linear/ConjugateGradientSolver.h b/gtsam/linear/ConjugateGradientSolver.h index a89d7a10c..1f01565ce 100644 --- a/gtsam/linear/ConjugateGradientSolver.h +++ b/gtsam/linear/ConjugateGradientSolver.h @@ -63,13 +63,12 @@ public: virtual void print(const std::string &s="") const { Base::print(); - std::cout << "ConjugateGradientParameters: " - << "minIter = " << minIterations_ - << ", maxIter = " << maxIterations_ - << ", resetIter = " << reset_ - << ", eps_rel = " << epsilon_rel_ - << ", eps_abs = " << epsilon_abs_ - << std::endl; + std::cout << "ConjugateGradientParameters" << std::endl + << "minIter: " << minIterations_ << std::endl + << "maxIter: " << maxIterations_ << std::endl + << "resetIter: " << reset_ << std::endl + << "eps_rel: " << epsilon_rel_ << std::endl + << "eps_abs: " << epsilon_abs_ << std::endl; } }; diff --git a/gtsam/linear/GaussianConditional.h b/gtsam/linear/GaussianConditional.h index 46365ff6b..ce6ad2a3a 100644 --- a/gtsam/linear/GaussianConditional.h +++ b/gtsam/linear/GaussianConditional.h @@ -144,9 +144,12 @@ public: /** equals function */ bool equals(const GaussianConditional &cg, double tol = 1e-9) const; - /** dimension of multivariate variable */ + /** dimension of multivariate variable (same as rows()) */ size_t dim() const { return rsd_.rows(); } + /** dimension of multivariate variable (same as dim()) */ + size_t rows() const { return dim(); } + /** Compute the augmented information matrix as * \f$ [ R S d ]^T [ R S d ] \f$ */ diff --git a/gtsam/linear/GaussianFactorGraph.h b/gtsam/linear/GaussianFactorGraph.h index 1dbc3a6bc..ec85deed5 100644 --- a/gtsam/linear/GaussianFactorGraph.h +++ b/gtsam/linear/GaussianFactorGraph.h @@ -145,11 +145,11 @@ namespace gtsam { * FactorGraph::eliminate with EliminateQR as the eliminate * function argument. */ - std::pair eliminate(const std::vector& variables, const Eliminate& function = EliminateQR) { + std::pair eliminate(const std::vector& variables, const Eliminate& function = EliminateQR) const { return Base::eliminate(variables, function); } /** Eliminate a single variable, by calling GaussianFactorGraph::eliminate. */ - std::pair eliminateOne(Index variable, const Eliminate& function = EliminateQR) { + std::pair eliminateOne(Index variable, const Eliminate& function = EliminateQR) const { return Base::eliminateOne(variable, function); } /** Permute the variables in the factors */ diff --git a/gtsam/linear/HessianFactor.cpp b/gtsam/linear/HessianFactor.cpp index 31acd351f..5f48be50b 100644 --- a/gtsam/linear/HessianFactor.cpp +++ b/gtsam/linear/HessianFactor.cpp @@ -324,9 +324,18 @@ Matrix HessianFactor::information() const { double HessianFactor::error(const VectorValues& c) const { // error 0.5*(f - 2*x'*g + x'*G*x) const double f = constantTerm(); - const double xtg = c.asVector().dot(linearTerm()); - const double xGx = c.asVector().transpose() * info_.range(0, this->size(), 0, this->size()).selfadjointView() * c.asVector(); - + double xtg = 0, xGx = 0; + if (c.dim() == this->rows()) { + // If using the full vector values, this will reduce copying + xtg = c.vector().dot(linearTerm()); + xGx = c.vector().transpose() * info_.range(0, this->size(), 0, this->size()).selfadjointView() * c.asVector(); + } else { + // extract the relevant subset of the VectorValues + // NOTE may not be as efficient + const Vector x = c.vector(this->keys()); + xtg = x.dot(linearTerm()); + xGx = x.transpose() * info_.range(0, this->size(), 0, this->size()).selfadjointView() * x; + } return 0.5 * (f - 2.0 * xtg + xGx); } diff --git a/gtsam/linear/IterativeSolver.h b/gtsam/linear/IterativeSolver.h index 05741d763..fb948bf69 100644 --- a/gtsam/linear/IterativeSolver.h +++ b/gtsam/linear/IterativeSolver.h @@ -49,9 +49,10 @@ namespace gtsam { void setVerbosity(const std::string &s) ; void print() const { - std::cout << "IterativeOptimizationParameters: " - << "kernel = " << kernelTranslator(kernel_) - << ", verbosity = " << verbosityTranslator(verbosity_) << std::endl; + std::cout << "IterativeOptimizationParameters" << std::endl + << "kernel: " << kernelTranslator(kernel_) << std::endl + << "verbosity: " << verbosityTranslator(verbosity_) << std::endl + << std::endl; } static Kernel kernelTranslator(const std::string &s); diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index 2ae8b3eb1..7bc282557 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -209,6 +209,22 @@ namespace gtsam { assertInvariants(); } + /* ************************************************************************* */ + JacobianFactor::JacobianFactor(const GaussianFactorGraph& gfg) : Ab_(matrix_) { + // Cast or convert to Jacobians + FactorGraph jacobians; + BOOST_FOREACH(const GaussianFactorGraph::sharedFactor& factor, gfg) { + if(factor) { + if(JacobianFactor::shared_ptr jf = boost::dynamic_pointer_cast(factor)) + jacobians.push_back(jf); + else + jacobians.push_back(boost::make_shared(*factor)); + } + } + + *this = *CombineJacobians(jacobians, VariableSlots(jacobians)); + } + /* ************************************************************************* */ JacobianFactor& JacobianFactor::operator=(const JacobianFactor& rhs) { this->Base::operator=(rhs); // Copy keys diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h index 61ba5f081..cd77252b4 100644 --- a/gtsam/linear/JacobianFactor.h +++ b/gtsam/linear/JacobianFactor.h @@ -37,6 +37,7 @@ namespace gtsam { class HessianFactor; class VariableSlots; template class BayesNet; + class GaussianFactorGraph; /** * A Gaussian factor in the squared-error form. @@ -133,6 +134,9 @@ namespace gtsam { /** Convert from a HessianFactor (does Cholesky) */ JacobianFactor(const HessianFactor& factor); + /** Build a dense joint factor from all the factors in a factor graph. */ + JacobianFactor(const GaussianFactorGraph& gfg); + /** Virtual destructor */ virtual ~JacobianFactor() {} @@ -293,7 +297,7 @@ namespace gtsam { /** An exception indicating that the noise model dimension passed into the * JacobianFactor has a different dimensionality than the factor. */ - class InvalidNoiseModel : std::exception { + class InvalidNoiseModel : public std::exception { public: const size_t factorDims; ///< The dimensionality of the factor const size_t noiseModelDims; ///< The dimensionality of the noise model diff --git a/gtsam/linear/VectorValues.cpp b/gtsam/linear/VectorValues.cpp index 4d952d063..1525b81b3 100644 --- a/gtsam/linear/VectorValues.cpp +++ b/gtsam/linear/VectorValues.cpp @@ -122,7 +122,8 @@ bool VectorValues::hasSameStructure(const VectorValues& other) const { if(this->size() != other.size()) return false; for(size_t j=0; jdim(j) != other.dim(j)) + // Directly accessing maps instead of using VV::dim in case some values are empty + if(this->maps_[j].rows() != other.maps_[j].rows()) return false; return true; } @@ -186,4 +187,28 @@ void VectorValues::operator+=(const VectorValues& c) { this->values_ += c.values_; } -} \ No newline at end of file +/* ************************************************************************* */ +Vector VectorValues::vector(const std::vector& indices) const { + if (indices.empty()) + return Vector(); + + // find dimensions + size_t d = 0; + BOOST_FOREACH(const Index& idx, indices) + d += dim(idx); + + // copy out values + Vector result(d); + size_t curHead = 0; + BOOST_FOREACH(const Index& j, indices) { + const SubVector& vj = at(j); + size_t dj = (size_t) vj.rows(); + result.segment(curHead, dj) = vj; + curHead += dj; + } + return result; +} + +/* ************************************************************************* */ + +} // \namespace gtsam diff --git a/gtsam/linear/VectorValues.h b/gtsam/linear/VectorValues.h index 113c563e1..c5a460684 100644 --- a/gtsam/linear/VectorValues.h +++ b/gtsam/linear/VectorValues.h @@ -249,6 +249,9 @@ namespace gtsam { /** Reference the entire solution vector. */ //Vector& asVector() { return values_; } + /** Access a vector that is a subset of relevant indices */ + Vector vector(const std::vector& indices) const; + /** Check whether this VectorValues has the same structure, meaning has the * same number of variables and that all variables are of the same dimension, * as another VectorValues diff --git a/gtsam/linear/tests/testGaussianFactorGraph.cpp b/gtsam/linear/tests/testGaussianFactorGraph.cpp index e170d03dd..bdc64d849 100644 --- a/gtsam/linear/tests/testGaussianFactorGraph.cpp +++ b/gtsam/linear/tests/testGaussianFactorGraph.cpp @@ -26,19 +26,31 @@ using namespace boost::assign; #include #include #include +#include using namespace std; using namespace gtsam; using namespace boost; -#ifdef BROKEN -static const Index _x0_=0, _x1_=1, _x2_=2, _x3_=3, _x4_=4, _x_=5, _y_=6, _l1_=7, _l11_=8; -#endif - static SharedDiagonal sigma0_1 = noiseModel::Isotropic::Sigma(2,0.1), sigma_02 = noiseModel::Isotropic::Sigma(2,0.2), constraintModel = noiseModel::Constrained::All(2); +static GaussianFactorGraph createSimpleGaussianFactorGraph() { + GaussianFactorGraph fg; + SharedDiagonal unit2 = noiseModel::Unit::Create(2); + // linearized prior on x1: c[_x1_]+x1=0 i.e. x1=-c[_x1_] + fg.add(2, 10*eye(2), -1.0*ones(2), unit2); + // odometry between x1 and x2: x2-x1=[0.2;-0.1] + fg.add(2, -10*eye(2), 0, 10*eye(2), Vector_(2, 2.0, -1.0), unit2); + // measurement between x1 and l1: l1-x1=[0.0;0.2] + fg.add(2, -5*eye(2), 1, 5*eye(2), Vector_(2, 0.0, 1.0), unit2); + // measurement between x2 and l1: l1-x2=[-0.2;0.3] + fg.add(0, -5*eye(2), 1, 5*eye(2), Vector_(2, -1.0, 1.5), unit2); + return fg; +} + + /* ************************************************************************* */ TEST(GaussianFactorGraph, initialization) { // Create empty graph @@ -65,63 +77,7 @@ TEST(GaussianFactorGraph, initialization) { } /* ************************************************************************* */ -#ifdef BROKEN -TEST(GaussianFactor, Combine) -{ - Matrix A00 = Matrix_(3,3, - 1.0, 0.0, 0.0, - 0.0, 1.0, 0.0, - 0.0, 0.0, 1.0); - Vector b0 = Vector_(3, 0.0, 0.0, 0.0); - Vector s0 = Vector_(3, 0.0, 0.0, 0.0); - - Matrix A10 = Matrix_(3,3, - 0.0, -2.0, -4.0, - 2.0, 0.0, 2.0, - 0.0, 0.0, -10.0); - Matrix A11 = Matrix_(3,3, - 2.0, 0.0, 0.0, - 0.0, 2.0, 0.0, - 0.0, 0.0, 10.0); - Vector b1 = Vector_(3, 6.0, 2.0, 0.0); - Vector s1 = Vector_(3, 1.0, 1.0, 1.0); - - Matrix A20 = Matrix_(3,3, - 1.0, 0.0, 0.0, - 0.0, 1.0, 0.0, - 0.0, 0.0, 1.0); - Vector b2 = Vector_(3, 0.0, 0.0, 0.0); - Vector s2 = Vector_(3, 100.0, 100.0, 100.0); - - GaussianFactorGraph gfg; - gfg.add(0, A00, b0, noiseModel::Diagonal::Sigmas(s0, true)); - gfg.add(0, A10, 1, A11, b1, noiseModel::Diagonal::Sigmas(s1, true)); - gfg.add(0, A20, b2, noiseModel::Diagonal::Sigmas(s2, true)); - - GaussianVariableIndex varindex(gfg); - vector factors(3); factors[0]=0; factors[1]=1; factors[2]=2; - vector variables(2); variables[0]=0; variables[1]=1; - vector > variablePositions(3); - variablePositions[0].resize(1); variablePositions[0][0]=0; - variablePositions[1].resize(2); variablePositions[1][0]=0; variablePositions[1][1]=1; - variablePositions[2].resize(1); variablePositions[2][0]=0; - - JacobianFactor actual = *JacobianFactor::Combine(gfg, varindex, factors, variables, variablePositions); - - Matrix zero3x3 = zeros(3,3); - Matrix A0 = gtsam::stack(3, &A00, &A10, &A20); - Matrix A1 = gtsam::stack(3, &zero3x3, &A11, &zero3x3); - Vector b = gtsam::concatVectors(3, &b0, &b1, &b2); - Vector sigmas = gtsam::concatVectors(3, &s0, &s1, &s2); - - JacobianFactor expected(0, A0, 1, A1, b, noiseModel::Diagonal::Sigmas(sigmas, true)); - - EXPECT(assert_equal(expected, actual)); -} -#endif - -/* ************************************************************************* */ -TEST(GaussianFactorGraph, Combine2) +TEST(GaussianFactorGraph, CombineJacobians) { Matrix A01 = Matrix_(3,3, 1.0, 0.0, 0.0, @@ -153,7 +109,7 @@ TEST(GaussianFactorGraph, Combine2) gfg.add(0, A10, 1, A11, b1, noiseModel::Diagonal::Sigmas(s1, true)); gfg.add(1, A21, b2, noiseModel::Diagonal::Sigmas(s2, true)); - // Convert to Jacobians, inefficient copy of all factors instead of selectively converting only Hessians + // Convert to Jacobians (inefficient copy of all factors instead of selectively converting only Hessians) FactorGraph jacobians; BOOST_FOREACH(const GaussianFactorGraph::sharedFactor& factor, gfg) { jacobians.push_back(boost::make_shared(*factor)); @@ -225,125 +181,6 @@ TEST(GaussianFactor, CombineAndEliminate) EXPECT(assert_equal(expectedFactor, *actualJacobian)); } -/* ************************************************************************* */ -#ifdef BROKEN -TEST( NonlinearFactorGraph, combine2){ - double sigma1 = 0.0957; - Matrix A11(2,2); - A11(0,0) = 1; A11(0,1) = 0; - A11(1,0) = 0; A11(1,1) = 1; - Vector b(2); - b(0) = 2; b(1) = -1; - JacobianFactor::shared_ptr f1(new JacobianFactor(_x1_, A11, b*sigma1, noiseModel::Isotropic::Sigma(2,sigma1))); - - double sigma2 = 0.5; - A11(0,0) = 1; A11(0,1) = 0; - A11(1,0) = 0; A11(1,1) = -1; - b(0) = 4 ; b(1) = -5; - JacobianFactor::shared_ptr f2(new JacobianFactor(_x1_, A11, b*sigma2, noiseModel::Isotropic::Sigma(2,sigma2))); - - double sigma3 = 0.25; - A11(0,0) = 1; A11(0,1) = 0; - A11(1,0) = 0; A11(1,1) = -1; - b(0) = 3 ; b(1) = -88; - JacobianFactor::shared_ptr f3(new JacobianFactor(_x1_, A11, b*sigma3, noiseModel::Isotropic::Sigma(2,sigma3))); - - // TODO: find a real sigma value for this example - double sigma4 = 0.1; - A11(0,0) = 6; A11(0,1) = 0; - A11(1,0) = 0; A11(1,1) = 7; - b(0) = 5 ; b(1) = -6; - JacobianFactor::shared_ptr f4(new JacobianFactor(_x1_, A11*sigma4, b*sigma4, noiseModel::Isotropic::Sigma(2,sigma4))); - - vector lfg; - lfg.push_back(f1); - lfg.push_back(f2); - lfg.push_back(f3); - lfg.push_back(f4); - JacobianFactor combined(lfg); - - Vector sigmas = Vector_(8, sigma1, sigma1, sigma2, sigma2, sigma3, sigma3, sigma4, sigma4); - Matrix A22(8,2); - A22(0,0) = 1; A22(0,1) = 0; - A22(1,0) = 0; A22(1,1) = 1; - A22(2,0) = 1; A22(2,1) = 0; - A22(3,0) = 0; A22(3,1) = -1; - A22(4,0) = 1; A22(4,1) = 0; - A22(5,0) = 0; A22(5,1) = -1; - A22(6,0) = 0.6; A22(6,1) = 0; - A22(7,0) = 0; A22(7,1) = 0.7; - Vector exb(8); - exb(0) = 2*sigma1 ; exb(1) = -1*sigma1; exb(2) = 4*sigma2 ; exb(3) = -5*sigma2; - exb(4) = 3*sigma3 ; exb(5) = -88*sigma3; exb(6) = 5*sigma4 ; exb(7) = -6*sigma4; - - vector > meas; - meas.push_back(make_pair(_x1_, A22)); - JacobianFactor expected(meas, exb, sigmas); - EXPECT(assert_equal(expected,combined)); -} - -/* ************************************************************************* */ -TEST(GaussianFactor, linearFactorN){ - Matrix I = eye(2); - vector f; - SharedDiagonal model = noiseModel::Isotropic::Sigma(2,1.0); - f.push_back(JacobianFactor::shared_ptr(new JacobianFactor(_x1_, I, Vector_(2, - 10.0, 5.0), model))); - f.push_back(JacobianFactor::shared_ptr(new JacobianFactor(_x1_, -10 * I, - _x2_, 10 * I, Vector_(2, 1.0, -2.0), model))); - f.push_back(JacobianFactor::shared_ptr(new JacobianFactor(_x2_, -10 * I, - _x3_, 10 * I, Vector_(2, 1.5, -1.5), model))); - f.push_back(JacobianFactor::shared_ptr(new JacobianFactor(_x3_, -10 * I, - _x4_, 10 * I, Vector_(2, 2.0, -1.0), model))); - - JacobianFactor combinedFactor(f); - - vector > combinedMeasurement; - combinedMeasurement.push_back(make_pair(_x1_, Matrix_(8,2, - 1.0, 0.0, - 0.0, 1.0, - -10.0, 0.0, - 0.0,-10.0, - 0.0, 0.0, - 0.0, 0.0, - 0.0, 0.0, - 0.0, 0.0))); - combinedMeasurement.push_back(make_pair(_x2_, Matrix_(8,2, - 0.0, 0.0, - 0.0, 0.0, - 10.0, 0.0, - 0.0, 10.0, - -10.0, 0.0, - 0.0,-10.0, - 0.0, 0.0, - 0.0, 0.0))); - combinedMeasurement.push_back(make_pair(_x3_, Matrix_(8,2, - 0.0, 0.0, - 0.0, 0.0, - 0.0, 0.0, - 0.0, 0.0, - 10.0, 0.0, - 0.0, 10.0, - -10.0, 0.0, - 0.0,-10.0))); - combinedMeasurement.push_back(make_pair(_x4_, Matrix_(8,2, - 0.0, 0.0, - 0.0, 0.0, - 0.0, 0.0, - 0.0, 0.0, - 0.0, 0.0, - 0.0, 0.0, - 10.0, 0.0, - 0.0,10.0))); - Vector b = Vector_(8, - 10.0, 5.0, 1.0, -2.0, 1.5, -1.5, 2.0, -1.0); - - Vector sigmas = repeat(8,1.0); - JacobianFactor expected(combinedMeasurement, b, sigmas); - EXPECT(assert_equal(expected,combinedFactor)); -} -#endif - /* ************************************************************************* */ TEST(GaussianFactor, eliminateFrontals) { @@ -514,24 +351,6 @@ TEST(GaussianFactor, eliminateFrontals) #endif } -/* ************************************************************************* */ -#ifdef BROKEN -TEST(GaussianFactor, CONSTRUCTOR_GaussianConditionalConstrained ) -{ - Matrix Ax = eye(2); - Vector b = Vector_(2, 3.0, 5.0); - SharedDiagonal noisemodel = noiseModel::Constrained::All(2); - JacobianFactor::shared_ptr expected(new JacobianFactor(_x0_, Ax, b, noisemodel)); - GaussianFactorGraph graph; - graph.push_back(expected); - - GaussianConditional::shared_ptr conditional = GaussianSequentialSolver::EliminateUntil(graph,_x0_+1); - JacobianFactor actual(*conditional); - - EXPECT(assert_equal(*expected, actual)); -} -#endif - /* ************************************************************************* */ TEST(GaussianFactor, permuteWithInverse) { @@ -565,19 +384,6 @@ TEST(GaussianFactor, permuteWithInverse) // GaussianVariableIndex expectedIndex(expectedFG); EXPECT(assert_equal(expected, actual)); - -#ifdef BROKEN - // todo: fix this!!! VariableIndex should not hold slots - for(Index j=0; j::max(); } - } - for(Index j=0; j::max(); } - } - EXPECT(assert_equal(expectedIndex, actualIndex)); -#endif } /* ************************************************************************* */ @@ -658,6 +464,73 @@ TEST(GaussianFactorGraph, matrices) { EXPECT(assert_equal(expectedL, actualL)); EXPECT(assert_equal(expectedeta, actualeta)); } + +/* ************************************************************************* */ +TEST( GaussianFactorGraph, gradient ) +{ + GaussianFactorGraph fg = createSimpleGaussianFactorGraph(); + + // Construct expected gradient + VectorValues expected; + + // 2*f(x) = 100*(x1+c[X(1)])^2 + 100*(x2-x1-[0.2;-0.1])^2 + 25*(l1-x1-[0.0;0.2])^2 + 25*(l1-x2-[-0.2;0.3])^2 + // worked out: df/dx1 = 100*[0.1;0.1] + 100*[0.2;-0.1]) + 25*[0.0;0.2] = [10+20;10-10+5] = [30;5] + expected.insert(1,Vector_(2, 5.0,-12.5)); + expected.insert(2,Vector_(2, 30.0, 5.0)); + expected.insert(0,Vector_(2,-25.0, 17.5)); + + // Check the gradient at delta=0 + VectorValues zero = VectorValues::Zero(expected); + VectorValues actual = gradient(fg, zero); + EXPECT(assert_equal(expected,actual)); + + // Check the gradient at the solution (should be zero) + VectorValues solution = *GaussianSequentialSolver(fg).optimize(); + VectorValues actual2 = gradient(fg, solution); + EXPECT(assert_equal(VectorValues::Zero(solution), actual2)); +} + +/* ************************************************************************* */ +TEST( GaussianFactorGraph, transposeMultiplication ) +{ + GaussianFactorGraph A = createSimpleGaussianFactorGraph(); + + VectorValues e; + e.insert(0, Vector_(2, 0.0, 0.0)); + e.insert(1, Vector_(2,15.0, 0.0)); + e.insert(2, Vector_(2, 0.0,-5.0)); + e.insert(3, Vector_(2,-7.5,-5.0)); + + VectorValues expected; + expected.insert(1, Vector_(2, -37.5,-50.0)); + expected.insert(2, Vector_(2,-150.0, 25.0)); + expected.insert(0, Vector_(2, 187.5, 25.0)); + + VectorValues actual = VectorValues::SameStructure(expected); + transposeMultiply(A, e, actual); + EXPECT(assert_equal(expected,actual)); +} + +/* ************************************************************************* */ +TEST(GaussianFactorGraph, eliminate_empty ) +{ + // eliminate an empty factor + GaussianFactorGraph gfg; + gfg.push_back(boost::make_shared()); + GaussianConditional::shared_ptr actualCG; + GaussianFactorGraph remainingGFG; + boost::tie(actualCG, remainingGFG) = gfg.eliminateOne(0); + + // expected Conditional Gaussian is just a parent-less node with P(x)=1 + GaussianConditional expectedCG(0, Vector(), Matrix(), Vector()); + + // expected remaining graph should be the same as the original, still empty :-) + GaussianFactorGraph expectedLF = gfg; + + // check if the result matches + EXPECT(actualCG->equals(expectedCG)); + EXPECT(remainingGFG.equals(expectedLF)); +} /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr);} diff --git a/gtsam/linear/tests/testHessianFactor.cpp b/gtsam/linear/tests/testHessianFactor.cpp index 05d2fdbd5..caaff6748 100644 --- a/gtsam/linear/tests/testHessianFactor.cpp +++ b/gtsam/linear/tests/testHessianFactor.cpp @@ -197,6 +197,14 @@ TEST(HessianFactor, Constructor2) EXPECT(assert_equal(G11, factor.info(factor.begin(), factor.begin()))); EXPECT(assert_equal(G12, factor.info(factor.begin(), factor.begin()+1))); EXPECT(assert_equal(G22, factor.info(factor.begin()+1, factor.begin()+1))); + + // Check case when vector values is larger than factor + dims.push_back(2); + VectorValues dxLarge(dims); + dxLarge[0] = dx0; + dxLarge[1] = dx1; + dxLarge[2] = Vector_(2, 0.1, 0.2); + EXPECT_DOUBLES_EQUAL(expected, factor.error(dxLarge), 1e-10); } /* ************************************************************************* */ diff --git a/gtsam/linear/tests/testJacobianFactor.cpp b/gtsam/linear/tests/testJacobianFactor.cpp index 33b1b41cc..fe13fdeac 100644 --- a/gtsam/linear/tests/testJacobianFactor.cpp +++ b/gtsam/linear/tests/testJacobianFactor.cpp @@ -22,6 +22,7 @@ #include #include #include +#include using namespace std; using namespace gtsam; @@ -112,6 +113,119 @@ TEST(JabobianFactor, Hessian_conversion) { EXPECT(assert_equal(expected, actual, 1e-3)); } +/* ************************************************************************* */ +TEST( JacobianFactor, constructor_combined){ + double sigma1 = 0.0957; + Matrix A11(2,2); + A11(0,0) = 1; A11(0,1) = 0; + A11(1,0) = 0; A11(1,1) = 1; + Vector b(2); + b(0) = 2; b(1) = -1; + JacobianFactor::shared_ptr f1(new JacobianFactor(0, A11, b*sigma1, noiseModel::Isotropic::Sigma(2,sigma1))); + + double sigma2 = 0.5; + A11(0,0) = 1; A11(0,1) = 0; + A11(1,0) = 0; A11(1,1) = -1; + b(0) = 4 ; b(1) = -5; + JacobianFactor::shared_ptr f2(new JacobianFactor(0, A11, b*sigma2, noiseModel::Isotropic::Sigma(2,sigma2))); + + double sigma3 = 0.25; + A11(0,0) = 1; A11(0,1) = 0; + A11(1,0) = 0; A11(1,1) = -1; + b(0) = 3 ; b(1) = -88; + JacobianFactor::shared_ptr f3(new JacobianFactor(0, A11, b*sigma3, noiseModel::Isotropic::Sigma(2,sigma3))); + + // TODO: find a real sigma value for this example + double sigma4 = 0.1; + A11(0,0) = 6; A11(0,1) = 0; + A11(1,0) = 0; A11(1,1) = 7; + b(0) = 5 ; b(1) = -6; + JacobianFactor::shared_ptr f4(new JacobianFactor(0, A11*sigma4, b*sigma4, noiseModel::Isotropic::Sigma(2,sigma4))); + + GaussianFactorGraph lfg; + lfg.push_back(f1); + lfg.push_back(f2); + lfg.push_back(f3); + lfg.push_back(f4); + JacobianFactor combined(lfg); + + Vector sigmas = Vector_(8, sigma1, sigma1, sigma2, sigma2, sigma3, sigma3, sigma4, sigma4); + Matrix A22(8,2); + A22(0,0) = 1; A22(0,1) = 0; + A22(1,0) = 0; A22(1,1) = 1; + A22(2,0) = 1; A22(2,1) = 0; + A22(3,0) = 0; A22(3,1) = -1; + A22(4,0) = 1; A22(4,1) = 0; + A22(5,0) = 0; A22(5,1) = -1; + A22(6,0) = 0.6; A22(6,1) = 0; + A22(7,0) = 0; A22(7,1) = 0.7; + Vector exb(8); + exb(0) = 2*sigma1 ; exb(1) = -1*sigma1; exb(2) = 4*sigma2 ; exb(3) = -5*sigma2; + exb(4) = 3*sigma3 ; exb(5) = -88*sigma3; exb(6) = 5*sigma4 ; exb(7) = -6*sigma4; + + vector > meas; + meas.push_back(make_pair(0, A22)); + JacobianFactor expected(meas, exb, noiseModel::Diagonal::Sigmas(sigmas)); + EXPECT(assert_equal(expected,combined)); +} + +/* ************************************************************************* */ +TEST(JacobianFactor, linearFactorN){ + Matrix I = eye(2); + GaussianFactorGraph f; + SharedDiagonal model = noiseModel::Isotropic::Sigma(2,1.0); + f.push_back(JacobianFactor::shared_ptr(new JacobianFactor(0, I, Vector_(2, 10.0, 5.0), model))); + f.push_back(JacobianFactor::shared_ptr(new JacobianFactor(0, -10 * I, 1, 10 * I, Vector_(2, 1.0, -2.0), model))); + f.push_back(JacobianFactor::shared_ptr(new JacobianFactor(1, -10 * I, 2, 10 * I, Vector_(2, 1.5, -1.5), model))); + f.push_back(JacobianFactor::shared_ptr(new JacobianFactor(2, -10 * I, 3, 10 * I, Vector_(2, 2.0, -1.0), model))); + + JacobianFactor combinedFactor(f); + + vector > combinedMeasurement; + combinedMeasurement.push_back(make_pair(0, Matrix_(8,2, + 1.0, 0.0, + 0.0, 1.0, + -10.0, 0.0, + 0.0,-10.0, + 0.0, 0.0, + 0.0, 0.0, + 0.0, 0.0, + 0.0, 0.0))); + combinedMeasurement.push_back(make_pair(1, Matrix_(8,2, + 0.0, 0.0, + 0.0, 0.0, + 10.0, 0.0, + 0.0, 10.0, + -10.0, 0.0, + 0.0,-10.0, + 0.0, 0.0, + 0.0, 0.0))); + combinedMeasurement.push_back(make_pair(2, Matrix_(8,2, + 0.0, 0.0, + 0.0, 0.0, + 0.0, 0.0, + 0.0, 0.0, + 10.0, 0.0, + 0.0, 10.0, + -10.0, 0.0, + 0.0,-10.0))); + combinedMeasurement.push_back(make_pair(3, Matrix_(8,2, + 0.0, 0.0, + 0.0, 0.0, + 0.0, 0.0, + 0.0, 0.0, + 0.0, 0.0, + 0.0, 0.0, + 10.0, 0.0, + 0.0,10.0))); + Vector b = Vector_(8, + 10.0, 5.0, 1.0, -2.0, 1.5, -1.5, 2.0, -1.0); + + Vector sigmas = repeat(8,1.0); + JacobianFactor expected(combinedMeasurement, b, noiseModel::Diagonal::Sigmas(sigmas)); + EXPECT(assert_equal(expected,combinedFactor)); +} + /* ************************************************************************* */ TEST(JacobianFactor, error) { Vector b = Vector_(3, 1., 2., 3.); @@ -132,10 +246,18 @@ TEST(JacobianFactor, error) { Vector expected_whitened = Vector_(3, 4., 5., 6.); Vector actual_whitened = jf.error_vector(values); EXPECT(assert_equal(expected_whitened, actual_whitened)); + + // check behavior when there are more values than in this factor + VectorValues largeValues(3, 3); + largeValues[0] = Vector_(3, 1.,2.,3.); + largeValues[1] = Vector_(3, 4.,5.,6.); + largeValues[2] = Vector_(3, 7.,8.,9.); + + EXPECT(assert_equal(expected_unwhitened, jf.unweighted_error(largeValues))); + EXPECT(assert_equal(expected_whitened, jf.error_vector(largeValues))); } /* ************************************************************************* */ -#ifdef BROKEN TEST(JacobianFactor, operators ) { SharedDiagonal sigma0_1 = noiseModel::Isotropic::Sigma(2,0.1); @@ -145,8 +267,8 @@ TEST(JacobianFactor, operators ) JacobianFactor lf(_x1_, -I, _x2_, I, b, sigma0_1); VectorValues c; - c[_x1_] = Vector_(2,10.,20.); - c[_x2_] = Vector_(2,30.,60.); + c.insert(_x1_, Vector_(2,10.,20.)); + c.insert(_x2_, Vector_(2,30.,60.)); // test A*x Vector expectedE = Vector_(2,200.,400.), e = lf*c; @@ -154,19 +276,13 @@ TEST(JacobianFactor, operators ) // test A^e VectorValues expectedX; - expectedX[_x1_] = Vector_(2,-2000.,-4000.); - expectedX[_x2_] = Vector_(2, 2000., 4000.); - EXPECT(assert_equal(expectedX,lf^e)); - - // test transposeMultiplyAdd - VectorValues x; - x[_x1_] = Vector_(2, 1.,2.); - x[_x2_] = Vector_(2, 3.,4.); - VectorValues expectedX2 = x + 0.1 * (lf^e); - lf.transposeMultiplyAdd(0.1,e,x); - EXPECT(assert_equal(expectedX2,x)); + expectedX.insert(_x1_, Vector_(2,-2000.,-4000.)); + expectedX.insert(_x2_, Vector_(2, 2000., 4000.)); + VectorValues actualX = VectorValues::Zero(expectedX); + lf.transposeMultiplyAdd(1.0, e, actualX); + EXPECT(assert_equal(expectedX, actualX)); } -#endif + /* ************************************************************************* */ TEST(JacobianFactor, eliminate2 ) { @@ -250,29 +366,6 @@ TEST(JacobianFactor, default_error ) EXPECT(actual==0.0); } -//* ************************************************************************* */ -#ifdef BROKEN -TEST(JacobianFactor, eliminate_empty ) -{ - // create an empty factor - JacobianFactor f; - - // eliminate the empty factor - GaussianConditional::shared_ptr actualCG; - JacobianFactor::shared_ptr actualLF(new JacobianFactor(f)); - actualCG = actualLF->eliminateFirst(); - - // expected Conditional Gaussian is just a parent-less node with P(x)=1 - GaussianConditional expectedCG(_x2_); - - // expected remaining factor is still empty :-) - JacobianFactor expectedLF; - - // check if the result matches - EXPECT(actualCG->equals(expectedCG)); - EXPECT(actualLF->equals(expectedLF)); -} -#endif //* ************************************************************************* */ TEST(JacobianFactor, empty ) { diff --git a/gtsam/linear/tests/testJacobianFactorGraph.cpp b/gtsam/linear/tests/testJacobianFactorGraph.cpp deleted file mode 100644 index beb41dd0d..000000000 --- a/gtsam/linear/tests/testJacobianFactorGraph.cpp +++ /dev/null @@ -1,92 +0,0 @@ -/* ---------------------------------------------------------------------------- - - * GTSAM Copyright 2010, Georgia Tech Research Corporation, - * Atlanta, Georgia 30332-0415 - * All Rights Reserved - * Authors: Frank Dellaert, et al. (see THANKS for the full author list) - - * See LICENSE for the license information - - * -------------------------------------------------------------------------- */ - -/** - * @file testJacobianFactorGraph.cpp - * @brief Unit tests for GaussianFactorGraph - * @author Yong Dian Jian - **/ - -#include -#include - - -///* ************************************************************************* */ -//TEST( GaussianFactorGraph, gradient ) -//{ -// GaussianFactorGraph fg = createGaussianFactorGraph(); -// -// // Construct expected gradient -// VectorValues expected; -// -// // 2*f(x) = 100*(x1+c[X(1)])^2 + 100*(x2-x1-[0.2;-0.1])^2 + 25*(l1-x1-[0.0;0.2])^2 + 25*(l1-x2-[-0.2;0.3])^2 -// // worked out: df/dx1 = 100*[0.1;0.1] + 100*[0.2;-0.1]) + 25*[0.0;0.2] = [10+20;10-10+5] = [30;5] -// expected.insert(L(1),Vector_(2, 5.0,-12.5)); -// expected.insert(X(1),Vector_(2, 30.0, 5.0)); -// expected.insert(X(2),Vector_(2,-25.0, 17.5)); -// -// // Check the gradient at delta=0 -// VectorValues zero = createZeroDelta(); -// VectorValues actual = fg.gradient(zero); -// EXPECT(assert_equal(expected,actual)); -// -// // Check it numerically for good measure -// Vector numerical_g = numericalGradient(error,zero,0.001); -// EXPECT(assert_equal(Vector_(6,5.0,-12.5,30.0,5.0,-25.0,17.5),numerical_g)); -// -// // Check the gradient at the solution (should be zero) -// Ordering ord; -// ord += X(2),L(1),X(1); -// GaussianFactorGraph fg2 = createGaussianFactorGraph(); -// VectorValues solution = fg2.optimize(ord); // destructive -// VectorValues actual2 = fg.gradient(solution); -// EXPECT(assert_equal(zero,actual2)); -//} - -///* ************************************************************************* */ -//TEST( GaussianFactorGraph, transposeMultiplication ) -//{ -// // create an ordering -// Ordering ord; ord += X(2),L(1),X(1); -// -// GaussianFactorGraph A = createGaussianFactorGraph(ord); -// Errors e; -// e += Vector_(2, 0.0, 0.0); -// e += Vector_(2,15.0, 0.0); -// e += Vector_(2, 0.0,-5.0); -// e += Vector_(2,-7.5,-5.0); -// -// VectorValues expected = createZeroDelta(ord), actual = A ^ e; -// expected[ord[L(1)]] = Vector_(2, -37.5,-50.0); -// expected[ord[X(1)]] = Vector_(2,-150.0, 25.0); -// expected[ord[X(2)]] = Vector_(2, 187.5, 25.0); -// EXPECT(assert_equal(expected,actual)); -//} - -///* ************************************************************************* */ -//TEST( GaussianFactorGraph, rhs ) -//{ -// // create an ordering -// Ordering ord; ord += X(2),L(1),X(1); -// -// GaussianFactorGraph Ab = createGaussianFactorGraph(ord); -// Errors expected = createZeroDelta(ord), actual = Ab.rhs(); -// expected.push_back(Vector_(2,-1.0,-1.0)); -// expected.push_back(Vector_(2, 2.0,-1.0)); -// expected.push_back(Vector_(2, 0.0, 1.0)); -// expected.push_back(Vector_(2,-1.0, 1.5)); -// EXPECT(assert_equal(expected,actual)); -//} - - -/* ************************************************************************* */ -int main() { TestResult tr; return TestRegistry::runAllTests(tr);} -/* ************************************************************************* */ diff --git a/gtsam/linear/tests/testVectorValues.cpp b/gtsam/linear/tests/testVectorValues.cpp index d6ee0ef7e..f80958504 100644 --- a/gtsam/linear/tests/testVectorValues.cpp +++ b/gtsam/linear/tests/testVectorValues.cpp @@ -449,7 +449,19 @@ TEST(VectorValues, permute) { } /* ************************************************************************* */ -int main() { - TestResult tr; return TestRegistry::runAllTests(tr); +TEST(VectorValues, subvector) { + VectorValues init; + init.insert(0, Vector_(1, 1.0)); + init.insert(1, Vector_(2, 2.0, 3.0)); + init.insert(2, Vector_(2, 4.0, 5.0)); + init.insert(3, Vector_(2, 6.0, 7.0)); + + std::vector indices; + indices += 0, 2, 3; + Vector expSubVector = Vector_(5, 1.0, 4.0, 5.0, 6.0, 7.0); + EXPECT(assert_equal(expSubVector, init.vector(indices))); } + +/* ************************************************************************* */ +int main() { TestResult tr; return TestRegistry::runAllTests(tr); } /* ************************************************************************* */ diff --git a/gtsam/nonlinear/DoglegOptimizer.h b/gtsam/nonlinear/DoglegOptimizer.h index 010a51fe7..51b03201b 100644 --- a/gtsam/nonlinear/DoglegOptimizer.h +++ b/gtsam/nonlinear/DoglegOptimizer.h @@ -133,12 +133,18 @@ public: */ virtual void iterate(); - /** Access the parameters */ + /** Read-only access the parameters */ const DoglegParams& params() const { return params_; } - /** Access the last state */ + /** Read/write access the parameters. */ + DoglegParams& params() { return params_; } + + /** Read-only access the last state */ const DoglegState& state() const { return state_; } + /** Read/write access the last state. When modifying the state, the error, etc. must be consistent before calling iterate() */ + DoglegState& state() { return state_; } + /** Access the current trust region radius Delta */ double getDelta() const { return state_.Delta; } diff --git a/gtsam/nonlinear/GaussNewtonOptimizer.h b/gtsam/nonlinear/GaussNewtonOptimizer.h index 270182fbf..9c610b2b8 100644 --- a/gtsam/nonlinear/GaussNewtonOptimizer.h +++ b/gtsam/nonlinear/GaussNewtonOptimizer.h @@ -88,12 +88,18 @@ public: */ virtual void iterate(); - /** Access the parameters */ + /** Read-only access the parameters */ const GaussNewtonParams& params() const { return params_; } - /** Access the last state */ + /** Read/write access the parameters. */ + GaussNewtonParams& params() { return params_; } + + /** Read-only access the last state */ const GaussNewtonState& state() const { return state_; } + /** Read/write access the last state. When modifying the state, the error, etc. must be consistent before calling iterate() */ + GaussNewtonState& state() { return state_; } + /// @} protected: diff --git a/gtsam/nonlinear/ISAM2-impl.cpp b/gtsam/nonlinear/ISAM2-impl.cpp index d52a38cb2..85abaa150 100644 --- a/gtsam/nonlinear/ISAM2-impl.cpp +++ b/gtsam/nonlinear/ISAM2-impl.cpp @@ -353,9 +353,11 @@ ISAM2::Impl::PartialSolve(GaussianFactorGraph& factors, Permutation::shared_ptr affectedColamdInverse(affectedColamd->inverse()); if(debug) affectedColamd->print("affectedColamd: "); if(debug) affectedColamdInverse->print("affectedColamdInverse: "); - result.reorderingSelector = affectedKeysSelector; - result.reorderingPermutation = *affectedColamd; - result.reorderingInverse = internal::Reduction::CreateFromPartialPermutation(affectedKeysSelector, *affectedColamdInverse); + result.fullReordering = + *Permutation::Identity(reorderingMode.nFullSystemVars).partialPermutation(affectedKeysSelector, *affectedColamd); + result.fullReorderingInverse = + *Permutation::Identity(reorderingMode.nFullSystemVars).partialPermutation(affectedKeysSelector, *affectedColamdInverse); + if(debug) result.fullReordering.print("partialReordering: "); gttoc(ccolamd_permutations); gttic(permute_affected_variable_index); diff --git a/gtsam/nonlinear/ISAM2-impl.h b/gtsam/nonlinear/ISAM2-impl.h index a39b321d8..4ce16de19 100644 --- a/gtsam/nonlinear/ISAM2-impl.h +++ b/gtsam/nonlinear/ISAM2-impl.h @@ -26,9 +26,8 @@ struct ISAM2::Impl { struct PartialSolveResult { ISAM2::sharedClique bayesTree; - Permutation reorderingSelector; - Permutation reorderingPermutation; - internal::Reduction reorderingInverse; + Permutation fullReordering; + Permutation fullReorderingInverse; }; struct ReorderingMode { diff --git a/gtsam/nonlinear/ISAM2.cpp b/gtsam/nonlinear/ISAM2.cpp index 078af066d..be68bd8f5 100644 --- a/gtsam/nonlinear/ISAM2.cpp +++ b/gtsam/nonlinear/ISAM2.cpp @@ -481,24 +481,22 @@ boost::shared_ptr > ISAM2::recalculate(const FastSet& mark // re-eliminate. The reordered variables are also mentioned in the // orphans and the leftover cached factors. gttic(permute_global_variable_index); - variableIndex_.permuteInPlace(partialSolveResult.reorderingSelector, partialSolveResult.reorderingPermutation); + variableIndex_.permuteInPlace(partialSolveResult.fullReordering); gttoc(permute_global_variable_index); gttic(permute_delta); - const Permutation fullReordering = *Permutation::Identity(delta_.size()). - partialPermutation(partialSolveResult.reorderingSelector, partialSolveResult.reorderingPermutation); - delta_ = delta_.permute(fullReordering); - deltaNewton_ = deltaNewton_.permute(fullReordering); - RgProd_ = RgProd_.permute(fullReordering); + delta_ = delta_.permute(partialSolveResult.fullReordering); + deltaNewton_ = deltaNewton_.permute(partialSolveResult.fullReordering); + RgProd_ = RgProd_.permute(partialSolveResult.fullReordering); gttoc(permute_delta); gttic(permute_ordering); - ordering_.reduceWithInverse(partialSolveResult.reorderingInverse); + ordering_.permuteWithInverse(partialSolveResult.fullReorderingInverse); gttoc(permute_ordering); if(params_.cacheLinearizedFactors) { gttic(permute_cached_linear); //linearFactors_.permuteWithInverse(partialSolveResult.fullReorderingInverse); FastList permuteLinearIndices = getAffectedFactors(affectedAndNewKeys); BOOST_FOREACH(size_t idx, permuteLinearIndices) { - linearFactors_[idx]->reduceWithInverse(partialSolveResult.reorderingInverse); + linearFactors_[idx]->permuteWithInverse(partialSolveResult.fullReorderingInverse); } gttoc(permute_cached_linear); } @@ -516,7 +514,7 @@ boost::shared_ptr > ISAM2::recalculate(const FastSet& mark gttic(orphans); gttic(permute); BOOST_FOREACH(sharedClique orphan, orphans) { - (void)orphan->reduceSeparatorWithInverse(partialSolveResult.reorderingInverse); + (void)orphan->permuteSeparatorWithInverse(partialSolveResult.fullReorderingInverse); } gttoc(permute); gttic(insert); diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h index 51a876031..7cc2c0518 100644 --- a/gtsam/nonlinear/ISAM2.h +++ b/gtsam/nonlinear/ISAM2.h @@ -405,15 +405,9 @@ public: Base::permuteWithInverse(inversePermutation); } - //bool permuteSeparatorWithInverse(const Permutation& inversePermutation) { - // bool changed = Base::permuteSeparatorWithInverse(inversePermutation); - // if(changed) if(cachedFactor_) cachedFactor_->permuteWithInverse(inversePermutation); - // return changed; - //} - - bool reduceSeparatorWithInverse(const internal::Reduction& inverseReduction) { - bool changed = Base::reduceSeparatorWithInverse(inverseReduction); - if(changed) if(cachedFactor_) cachedFactor_->reduceWithInverse(inverseReduction); + bool permuteSeparatorWithInverse(const Permutation& inversePermutation) { + bool changed = Base::permuteSeparatorWithInverse(inversePermutation); + if(changed) if(cachedFactor_) cachedFactor_->permuteWithInverse(inversePermutation); return changed; } diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp index ba809b507..b4e892996 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -160,6 +160,9 @@ void LevenbergMarquardtOptimizer::iterate() { } } // end while + if (lmVerbosity >= LevenbergMarquardtParams::LAMBDA) + cout << "using lambda = " << state_.lambda << endl; + // Increment the iteration counter ++state_.iterations; } diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h index 7f08db366..140bd247a 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h @@ -150,12 +150,18 @@ public: */ virtual void iterate(); - /** Access the parameters */ + /** Read-only access the parameters */ const LevenbergMarquardtParams& params() const { return params_; } - /** Access the last state */ + /** Read/write access the parameters */ + LevenbergMarquardtParams& params() { return params_; } + + /** Read-only access the last state */ const LevenbergMarquardtState& state() const { return state_; } + /** Read/write access the last state. When modifying the state, the error, etc. must be consistent before calling iterate() */ + LevenbergMarquardtState& state() { return state_; } + /// @} protected: diff --git a/gtsam_unstable/nonlinear/LinearContainerFactor.cpp b/gtsam/nonlinear/LinearContainerFactor.cpp similarity index 83% rename from gtsam_unstable/nonlinear/LinearContainerFactor.cpp rename to gtsam/nonlinear/LinearContainerFactor.cpp index 8d3346a8e..732c807b3 100644 --- a/gtsam_unstable/nonlinear/LinearContainerFactor.cpp +++ b/gtsam/nonlinear/LinearContainerFactor.cpp @@ -5,7 +5,7 @@ * @author Alex Cunningham */ -#include +#include #include @@ -140,7 +140,7 @@ double LinearContainerFactor::error(const Values& c) const { if (!linearizationPoint_) return 0; - // Extract subset of values for comparision + // Extract subset of values for comparison Values csub; BOOST_FOREACH(const gtsam::Key& key, keys()) csub.insert(key, c.at(key)); @@ -185,7 +185,39 @@ GaussianFactor::shared_ptr LinearContainerFactor::order(const Ordering& ordering /* ************************************************************************* */ GaussianFactor::shared_ptr LinearContainerFactor::linearize( const Values& c, const Ordering& ordering) const { - return order(ordering); + if (!hasLinearizationPoint()) + return order(ordering); + + // Extract subset of values + Values subsetC; + BOOST_FOREACH(const gtsam::Key& key, this->keys()) + subsetC.insert(key, c.at(key)); + + // Create a temp ordering for this factor + Ordering localOrdering = *subsetC.orderingArbitrary(); + + // Determine delta between linearization points using new ordering + VectorValues delta = linearizationPoint_->localCoordinates(subsetC, localOrdering); + + // clone and reorder linear factor to final ordering + GaussianFactor::shared_ptr linFactor = order(localOrdering); + if (isJacobian()) { + JacobianFactor::shared_ptr jacFactor = boost::shared_dynamic_cast(linFactor); + jacFactor->getb() += jacFactor->unweighted_error(delta) + jacFactor->getb(); + } else { + HessianFactor::shared_ptr hesFactor = boost::shared_dynamic_cast(linFactor); + size_t dim = hesFactor->linearTerm().size(); + Eigen::Block Gview = hesFactor->info().block(0, 0, dim, dim); + Vector G_delta = Gview.selfadjointView() * delta.vector(); + hesFactor->constantTerm() += delta.vector().dot(G_delta) + delta.vector().dot(hesFactor->linearTerm()); + hesFactor->linearTerm() += G_delta; + } + + // reset ordering + Ordering::InvertedMap invLocalOrdering = localOrdering.invert(); + BOOST_FOREACH(Index& idx, linFactor->keys()) + idx = ordering[invLocalOrdering[idx] ]; + return linFactor; } /* ************************************************************************* */ @@ -193,6 +225,11 @@ bool LinearContainerFactor::isJacobian() const { return boost::shared_dynamic_cast(factor_); } +/* ************************************************************************* */ +bool LinearContainerFactor::isHessian() const { + return boost::shared_dynamic_cast(factor_); +} + /* ************************************************************************* */ JacobianFactor::shared_ptr LinearContainerFactor::toJacobian() const { return boost::shared_dynamic_cast(factor_); diff --git a/gtsam_unstable/nonlinear/LinearContainerFactor.h b/gtsam/nonlinear/LinearContainerFactor.h similarity index 96% rename from gtsam_unstable/nonlinear/LinearContainerFactor.h rename to gtsam/nonlinear/LinearContainerFactor.h index 70c3af735..b2b3f9645 100644 --- a/gtsam_unstable/nonlinear/LinearContainerFactor.h +++ b/gtsam/nonlinear/LinearContainerFactor.h @@ -114,10 +114,13 @@ public: // casting syntactic sugar + inline bool hasLinearizationPoint() const { return linearizationPoint_; } + /** - * Simple check whether this is a Jacobian or Hessian factor + * Simple checks whether this is a Jacobian or Hessian factor */ bool isJacobian() const; + bool isHessian() const; /** Casts to JacobianFactor */ JacobianFactor::shared_ptr toJacobian() const; diff --git a/gtsam/nonlinear/Ordering.cpp b/gtsam/nonlinear/Ordering.cpp index fef827e79..1f7c5375b 100644 --- a/gtsam/nonlinear/Ordering.cpp +++ b/gtsam/nonlinear/Ordering.cpp @@ -34,18 +34,12 @@ Ordering::Ordering(const std::list & L):nVars_(0) { /* ************************************************************************* */ void Ordering::permuteWithInverse(const Permutation& inversePermutation) { + gttic(Ordering_permuteWithInverse); BOOST_FOREACH(Ordering::value_type& key_order, *this) { key_order.second = inversePermutation[key_order.second]; } } -/* ************************************************************************* */ -void Ordering::reduceWithInverse(const internal::Reduction& inverseReduction) { - BOOST_FOREACH(Ordering::value_type& key_order, *this) { - key_order.second = inverseReduction[key_order.second]; - } -} - /* ************************************************************************* */ void Ordering::print(const string& str, const KeyFormatter& keyFormatter) const { cout << str; diff --git a/gtsam/nonlinear/Ordering.h b/gtsam/nonlinear/Ordering.h index 60a21e5a1..ddffe787e 100644 --- a/gtsam/nonlinear/Ordering.h +++ b/gtsam/nonlinear/Ordering.h @@ -203,13 +203,6 @@ public: */ void permuteWithInverse(const Permutation& inversePermutation); - /** - * Reorder the variables with a permutation. This is typically used - * internally, permuting an initial key-sorted ordering into a fill-reducing - * ordering. - */ - void reduceWithInverse(const internal::Reduction& inverseReduction); - /// Synonym for operator[](Key) Index& at(Key key) { return operator[](key); } diff --git a/gtsam/nonlinear/Values.cpp b/gtsam/nonlinear/Values.cpp index 002ce8c3e..4f2845a66 100644 --- a/gtsam/nonlinear/Values.cpp +++ b/gtsam/nonlinear/Values.cpp @@ -190,6 +190,7 @@ namespace gtsam { /* ************************************************************************* */ vector Values::dims(const Ordering& ordering) const { + assert(ordering.size() == this->size()); // reads off of end of array if difference in size vector result(values_.size()); BOOST_FOREACH(const ConstKeyValuePair& key_value, *this) { result[ordering[key_value.key]] = key_value.value.dim(); diff --git a/gtsam/nonlinear/tests/testLinearContainerFactor.cpp b/gtsam/nonlinear/tests/testLinearContainerFactor.cpp new file mode 100644 index 000000000..f25e86f23 --- /dev/null +++ b/gtsam/nonlinear/tests/testLinearContainerFactor.cpp @@ -0,0 +1,285 @@ +/** + * @file testLinearContainerFactor.cpp + * + * @date Jul 6, 2012 + * @author Alex Cunningham + */ + +#include + +#include + +#include + +#include +#include + +using namespace std; +using namespace boost::assign; +using namespace gtsam; + +const gtsam::noiseModel::Diagonal::shared_ptr diag_model2 = noiseModel::Diagonal::Sigmas(Vector_(2, 1.0, 1.0)); +const double tol = 1e-5; + +gtsam::Key l1 = 101, l2 = 102, x1 = 1, x2 = 2; + +Point2 landmark1(5.0, 1.5), landmark2(7.0, 1.5); +Pose2 poseA1(0.0, 0.0, 0.0), poseA2(2.0, 0.0, 0.0); + +/* ************************************************************************* */ +TEST( testLinearContainerFactor, generic_jacobian_factor ) { + + Ordering initOrdering; initOrdering += x1, x2, l1, l2; + + Matrix A1 = Matrix_(2,2, + 2.74222, -0.0067457, + 0.0, 2.63624); + Matrix A2 = Matrix_(2,2, + -0.0455167, -0.0443573, + -0.0222154, -0.102489); + Vector b = Vector_(2, 0.0277052, + -0.0533393); + + JacobianFactor expLinFactor(initOrdering[l1], A1, initOrdering[l2], A2, b, diag_model2); + + LinearContainerFactor actFactor(expLinFactor, initOrdering); + EXPECT_LONGS_EQUAL(2, actFactor.size()); + EXPECT(actFactor.isJacobian()); + EXPECT(!actFactor.isHessian()); + + // check keys + std::vector expKeys; expKeys += l1, l2; + EXPECT(assert_container_equality(expKeys, actFactor.keys())); + + Values values; + values.insert(l1, landmark1); + values.insert(l2, landmark2); + values.insert(x1, poseA1); + values.insert(x2, poseA2); + + // Check reconstruction from same ordering + GaussianFactor::shared_ptr actLinearizationA = actFactor.linearize(values, initOrdering); + EXPECT(assert_equal(*expLinFactor.clone(), *actLinearizationA, tol)); + + // Check reconstruction from new ordering + Ordering newOrdering; newOrdering += x1, l1, x2, l2; + GaussianFactor::shared_ptr actLinearizationB = actFactor.linearize(values, newOrdering); + JacobianFactor expLinFactor2(newOrdering[l1], A1, newOrdering[l2], A2, b, diag_model2); + EXPECT(assert_equal(*expLinFactor2.clone(), *actLinearizationB, tol)); +} + +/* ************************************************************************* */ +TEST( testLinearContainerFactor, jacobian_factor_withlinpoints ) { + + Ordering ordering; ordering += x1, x2, l1, l2; + + Matrix A1 = Matrix_(2,2, + 2.74222, -0.0067457, + 0.0, 2.63624); + Matrix A2 = Matrix_(2,2, + -0.0455167, -0.0443573, + -0.0222154, -0.102489); + Vector b = Vector_(2, 0.0277052, + -0.0533393); + + JacobianFactor expLinFactor(ordering[l1], A1, ordering[l2], A2, b, diag_model2); + + Values values; + values.insert(l1, landmark1); + values.insert(l2, landmark2); + values.insert(x1, poseA1); + values.insert(x2, poseA2); + + LinearContainerFactor actFactor(expLinFactor, ordering, values); + LinearContainerFactor actFactorNolin(expLinFactor, ordering); + + EXPECT(assert_equal(actFactor, actFactor, tol)); + EXPECT(assert_inequal(actFactor, actFactorNolin, tol)); + EXPECT(assert_inequal(actFactorNolin, actFactor, tol)); + + // Check contents + Values expLinPoint; + expLinPoint.insert(l1, landmark1); + expLinPoint.insert(l2, landmark2); + CHECK(actFactor.linearizationPoint()); + EXPECT(actFactor.hasLinearizationPoint()); + EXPECT(assert_equal(expLinPoint, *actFactor.linearizationPoint())); + + // Check error evaluation + Vector delta_l1 = Vector_(2, 1.0, 2.0); + Vector delta_l2 = Vector_(2, 3.0, 4.0); + + VectorValues delta = values.zeroVectors(ordering); + delta.at(ordering[l1]) = delta_l1; + delta.at(ordering[l2]) = delta_l2; + Values noisyValues = values.retract(delta, ordering); + double expError = expLinFactor.error(delta); + EXPECT_DOUBLES_EQUAL(expError, actFactor.error(noisyValues), tol); + EXPECT_DOUBLES_EQUAL(expLinFactor.error(values.zeroVectors(ordering)), actFactor.error(values), tol); + + // Check linearization with corrections for updated linearization point + Ordering newOrdering; newOrdering += x1, l1, x2, l2; + GaussianFactor::shared_ptr actLinearizationB = actFactor.linearize(noisyValues, newOrdering); + Vector bprime = b + A1 * delta_l1 + A2 * delta_l2; + JacobianFactor expLinFactor2(newOrdering[l1], A1, newOrdering[l2], A2, bprime, diag_model2); + EXPECT(assert_equal(*expLinFactor2.clone(), *actLinearizationB, tol)); +} + +/* ************************************************************************* */ +TEST( testLinearContainerFactor, generic_hessian_factor ) { + Matrix G11 = Matrix_(1,1, 1.0); + Matrix G12 = Matrix_(1,2, 2.0, 4.0); + Matrix G13 = Matrix_(1,3, 3.0, 6.0, 9.0); + + Matrix G22 = Matrix_(2,2, 3.0, 5.0, + 0.0, 6.0); + Matrix G23 = Matrix_(2,3, 4.0, 6.0, 8.0, + 1.0, 2.0, 4.0); + + Matrix G33 = Matrix_(3,3, 1.0, 2.0, 3.0, + 0.0, 5.0, 6.0, + 0.0, 0.0, 9.0); + + Vector g1 = Vector_(1, -7.0); + Vector g2 = Vector_(2, -8.0, -9.0); + Vector g3 = Vector_(3, 1.0, 2.0, 3.0); + + double f = 10.0; + + Ordering initOrdering; initOrdering += x1, x2, l1, l2; + HessianFactor initFactor(initOrdering[x1], initOrdering[x2], initOrdering[l1], + G11, G12, G13, g1, G22, G23, g2, G33, g3, f); + + Values values; + values.insert(l1, landmark1); + values.insert(l2, landmark2); + values.insert(x1, poseA1); + values.insert(x2, poseA2); + + LinearContainerFactor actFactor(initFactor, initOrdering); + EXPECT(!actFactor.isJacobian()); + EXPECT(actFactor.isHessian()); + + GaussianFactor::shared_ptr actLinearization1 = actFactor.linearize(values, initOrdering); + EXPECT(assert_equal(*initFactor.clone(), *actLinearization1, tol)); + + Ordering newOrdering; newOrdering += l1, x1, x2, l2; + HessianFactor expLinFactor(newOrdering[x1], newOrdering[x2], newOrdering[l1], + G11, G12, G13, g1, G22, G23, g2, G33, g3, f); + GaussianFactor::shared_ptr actLinearization2 = actFactor.linearize(values, newOrdering); + EXPECT(assert_equal(*expLinFactor.clone(), *actLinearization2, tol)); +} + +/* ************************************************************************* */ +TEST( testLinearContainerFactor, hessian_factor_withlinpoints ) { + // 2 variable example, one pose, one landmark (planar) + // Initial ordering: x1, l1 + + Matrix G11 = Matrix_(3,3, + 1.0, 2.0, 3.0, + 0.0, 5.0, 6.0, + 0.0, 0.0, 9.0); + Matrix G12 = Matrix_(3,2, + 1.0, 2.0, + 3.0, 5.0, + 4.0, 6.0); + Vector g1 = Vector_(3, 1.0, 2.0, 3.0); + + Matrix G22 = Matrix_(2,2, + 0.5, 0.2, + 0.0, 0.6); + + Vector g2 = Vector_(2, -8.0, -9.0); + + double f = 10.0; + + // Construct full matrices + Matrix G(5,5); + G << G11, G12, Matrix::Zero(2,3), G22; + + Ordering ordering; ordering += x1, x2, l1; + HessianFactor initFactor(ordering[x1], ordering[l1], G11, G12, g1, G22, g2, f); + + Values linearizationPoint, expLinPoints; + linearizationPoint.insert(l1, landmark1); + linearizationPoint.insert(x1, poseA1); + expLinPoints = linearizationPoint; + linearizationPoint.insert(x2, poseA2); + + LinearContainerFactor actFactor(initFactor, ordering, linearizationPoint); + EXPECT(!actFactor.isJacobian()); + EXPECT(actFactor.isHessian()); + + EXPECT(actFactor.hasLinearizationPoint()); + Values actLinPoint = *actFactor.linearizationPoint(); + EXPECT(assert_equal(expLinPoints, actLinPoint)); + + // Create delta + Vector delta_l1 = Vector_(2, 1.0, 2.0); + Vector delta_x1 = Vector_(3, 3.0, 4.0, 0.5); + Vector delta_x2 = Vector_(3, 6.0, 7.0, 0.3); + + // Check error calculation + VectorValues delta = linearizationPoint.zeroVectors(ordering); + delta.at(ordering[l1]) = delta_l1; + delta.at(ordering[x1]) = delta_x1; + delta.at(ordering[x2]) = delta_x2; + EXPECT(assert_equal(Vector_(5, 3.0, 4.0, 0.5, 1.0, 2.0), delta.vector(initFactor.keys()))); + Values noisyValues = linearizationPoint.retract(delta, ordering); + + double expError = initFactor.error(delta); + EXPECT_DOUBLES_EQUAL(expError, actFactor.error(noisyValues), tol); + EXPECT_DOUBLES_EQUAL(initFactor.error(linearizationPoint.zeroVectors(ordering)), actFactor.error(linearizationPoint), tol); + + // Compute updated versions + Vector dv = Vector_(5, 3.0, 4.0, 0.5, 1.0, 2.0); + Vector g(5); g << g1, g2; + Vector g_prime = G.selfadjointView() * dv + g; + + // Check linearization with corrections for updated linearization point + Vector g1_prime = g_prime.head(3); + Vector g2_prime = g_prime.tail(2); + double f_prime = f + dv.transpose() * G.selfadjointView() * dv + dv.transpose() * g; + HessianFactor expNewFactor(ordering[x1], ordering[l1], G11, G12, g1_prime, G22, g2_prime, f_prime); + EXPECT(assert_equal(*expNewFactor.clone(), *actFactor.linearize(noisyValues, ordering), tol)); +} + +/* ************************************************************************* */ +TEST( testLinearContainerFactor, creation ) { + // Create a set of local keys (No robot label) + Key l1 = 11, l2 = 12, + l3 = 13, l4 = 14, + l5 = 15, l6 = 16, + l7 = 17, l8 = 18; + + // creating an ordering to decode the linearized factor + Ordering ordering; + ordering += l1,l2,l3,l4,l5,l6,l7,l8; + + // create a linear factor + SharedDiagonal model = noiseModel::Unit::Create(2); + JacobianFactor::shared_ptr linear_factor(new JacobianFactor( + ordering[l3], eye(2,2), ordering[l5], 2.0 * eye(2,2), zero(2), model)); + + // create a set of values - build with full set of values + gtsam::Values full_values, exp_values; + full_values.insert(l3, Point2(1.0, 2.0)); + full_values.insert(l5, Point2(4.0, 3.0)); + exp_values = full_values; + full_values.insert(l1, Point2(3.0, 7.0)); + + LinearContainerFactor actual(linear_factor, ordering, full_values); + + // Verify the keys + std::vector expKeys; + expKeys += l3, l5; + EXPECT(assert_container_equality(expKeys, actual.keys())); + + // Verify subset of linearization points + EXPECT(assert_equal(exp_values, actual.linearizationPoint(), tol)); +} + +/* ************************************************************************* */ +int main() { TestResult tr; return TestRegistry::runAllTests(tr); } +/* ************************************************************************* */ + diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt index 9d3d0e643..4016caa39 100644 --- a/gtsam_unstable/CMakeLists.txt +++ b/gtsam_unstable/CMakeLists.txt @@ -6,7 +6,7 @@ set (gtsam_unstable_subdirs discrete # linear dynamics - nonlinear +# nonlinear slam ) @@ -36,7 +36,7 @@ set(gtsam_unstable_srcs ${discrete_srcs} ${dynamics_srcs} #${linear_srcs} - ${nonlinear_srcs} + #${nonlinear_srcs} ${slam_srcs} ) diff --git a/gtsam_unstable/geometry/InvDepthCamera3.h b/gtsam_unstable/geometry/InvDepthCamera3.h index a9dc8d5f8..7b2a1b9fe 100644 --- a/gtsam_unstable/geometry/InvDepthCamera3.h +++ b/gtsam_unstable/geometry/InvDepthCamera3.h @@ -1,7 +1,10 @@ /** * @file InvDepthCamera3.h - * @brief + * @brief Inverse Depth Camera based on Civera09tro, Montiel06rss. + * Landmarks are initialized from the first camera observation with + * (x,y,z,theta,phi,inv_depth), where x,y,z are the coordinates of + * the camera * @author Chris Beall * @date Apr 14, 2012 */ @@ -29,8 +32,8 @@ namespace gtsam { template class InvDepthCamera3 { private: - Pose3 pose_; - boost::shared_ptr k_; + Pose3 pose_; ///< The camera pose + boost::shared_ptr k_; ///< The fixed camera calibration public: @@ -62,6 +65,12 @@ public: k_.print("calibration"); } + /** + * Convert an inverse depth landmark to cartesian Point3 + * @param pw first five parameters (x,y,z,theta,phi) of inv depth landmark + * @param inv inverse depth + * @return Point3 + */ static gtsam::Point3 invDepthTo3D(const gtsam::LieVector& pw, const gtsam::LieScalar& inv) { gtsam::Point3 ray_base(pw.vector().segment(0,3)); double theta = pw(3), phi = pw(4); diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h index 3639283f5..9100413fc 100644 --- a/gtsam_unstable/gtsam_unstable.h +++ b/gtsam_unstable/gtsam_unstable.h @@ -177,41 +177,7 @@ virtual class DGroundConstraint : gtsam::NonlinearFactor { //************************************************************************* // nonlinear //************************************************************************* -#include -virtual class LinearContainerFactor : gtsam::NonlinearFactor { - LinearContainerFactor(gtsam::GaussianFactor* factor, const gtsam::Ordering& ordering, - const gtsam::Values& linearizationPoint); - LinearContainerFactor(gtsam::GaussianFactor* factor, const gtsam::Values& linearizationPoint); - LinearContainerFactor(gtsam::GaussianFactor* factor, const gtsam::InvertedOrdering& ordering, - const gtsam::Values& linearizationPoint); - - LinearContainerFactor(gtsam::GaussianFactor* factor, const gtsam::Ordering& ordering); - LinearContainerFactor(gtsam::GaussianFactor* factor); - LinearContainerFactor(gtsam::GaussianFactor* factor, const gtsam::InvertedOrdering& ordering); - - gtsam::GaussianFactor* factor() const; -// const boost::optional& linearizationPoint() const; - - gtsam::GaussianFactor* order(const gtsam::Ordering& ordering) const; - gtsam::GaussianFactor* negate(const gtsam::Ordering& ordering) const; - gtsam::NonlinearFactor* negate() const; - - bool isJacobian() const; - gtsam::JacobianFactor* toJacobian() const; - gtsam::HessianFactor* toHessian() const; - - static gtsam::NonlinearFactorGraph convertLinearGraph(const gtsam::GaussianFactorGraph& linear_graph, - const gtsam::Ordering& ordering, const gtsam::Values& linearizationPoint); - static gtsam::NonlinearFactorGraph convertLinearGraph(const gtsam::GaussianFactorGraph& linear_graph, - const gtsam::InvertedOrdering& invOrdering, const gtsam::Values& linearizationPoint); - - static gtsam::NonlinearFactorGraph convertLinearGraph(const gtsam::GaussianFactorGraph& linear_graph, - const gtsam::Ordering& ordering); - static gtsam::NonlinearFactorGraph convertLinearGraph(const gtsam::GaussianFactorGraph& linear_graph, - const gtsam::InvertedOrdering& invOrdering); - -}; // \class LinearContainerFactor //************************************************************************* // slam diff --git a/gtsam_unstable/nonlinear/LinearizedFactor.cpp b/gtsam_unstable/nonlinear/LinearizedFactor.cpp deleted file mode 100644 index 942cb1f1e..000000000 --- a/gtsam_unstable/nonlinear/LinearizedFactor.cpp +++ /dev/null @@ -1,148 +0,0 @@ -/* ---------------------------------------------------------------------------- - - * GTSAM Copyright 2010, Georgia Tech Research Corporation, - * Atlanta, Georgia 30332-0415 - * All Rights Reserved - * Authors: Frank Dellaert, et al. (see THANKS for the full author list) - - * See LICENSE for the license information - - * -------------------------------------------------------------------------- */ - -/** - * @file LinearizedFactor.cpp - * @brief A dummy factor that allows a linear factor to act as a nonlinear factor - * @author Alex Cunningham - */ - -#include -#include - -#include - -namespace gtsam { - -using namespace std; - -/* ************************************************************************* */ -LinearizedFactor::LinearizedFactor(JacobianFactor::shared_ptr lin_factor, - const KeyLookup& decoder, const Values& lin_points) -: Base(lin_factor->get_model()), b_(lin_factor->getb()), model_(lin_factor->get_model()) { - BOOST_FOREACH(const Index& idx, *lin_factor) { - // find full symbol - KeyLookup::const_iterator decode_it = decoder.find(idx); - if (decode_it == decoder.end()) - throw runtime_error("LinearizedFactor: could not find index in decoder!"); - Key key(decode_it->second); - - // extract linearization point - assert(lin_points.exists(key)); - this->lin_points_.insert(key, lin_points.at(key)); // NOTE: will not overwrite - - // extract Jacobian - Matrix A = lin_factor->getA(lin_factor->find(idx)); - this->matrices_.insert(std::make_pair(key, A)); - - // store keys - this->keys_.push_back(key); - } -} - -/* ************************************************************************* */ -LinearizedFactor::LinearizedFactor(JacobianFactor::shared_ptr lin_factor, - const Ordering& ordering, const Values& lin_points) -: Base(lin_factor->get_model()), b_(lin_factor->getb()), model_(lin_factor->get_model()) { - const KeyLookup decoder = ordering.invert(); - BOOST_FOREACH(const Index& idx, *lin_factor) { - // find full symbol - KeyLookup::const_iterator decode_it = decoder.find(idx); - if (decode_it == decoder.end()) - throw runtime_error("LinearizedFactor: could not find index in decoder!"); - Key key(decode_it->second); - - // extract linearization point - assert(lin_points.exists(key)); - this->lin_points_.insert(key, lin_points.at(key)); // NOTE: will not overwrite - - // extract Jacobian - Matrix A = lin_factor->getA(lin_factor->find(idx)); - this->matrices_.insert(std::make_pair(key, A)); - - // store keys - this->keys_.push_back(key); - } -} - -/* ************************************************************************* */ -Vector LinearizedFactor::unwhitenedError(const Values& c, - boost::optional&> H) const { - // extract the points in the new values - Vector ret = - b_; - - if (H) H->resize(this->size()); - size_t i=0; - BOOST_FOREACH(Key key, this->keys()) { - const Value& newPt = c.at(key); - const Value& linPt = lin_points_.at(key); - Vector d = linPt.localCoordinates_(newPt); - const Matrix& A = matrices_.at(key); - ret += A * d; - if (H) (*H)[i++] = A; - } - - return ret; -} - -/* ************************************************************************* */ -boost::shared_ptr -LinearizedFactor::linearize(const Values& c, const Ordering& ordering) const { - - // sort by varid - only known at linearization time - typedef std::map VarMatrixMap; - VarMatrixMap sorting_terms; - BOOST_FOREACH(const KeyMatrixMap::value_type& p, matrices_) - sorting_terms.insert(std::make_pair(ordering[p.first], p.second)); - - // move into terms - std::vector > terms; - BOOST_FOREACH(const VarMatrixMap::value_type& p, sorting_terms) - terms.push_back(p); - - // compute rhs: adjust current by whitened update - Vector b = unwhitenedError(c) + b_; // remove original b - this->noiseModel_->whitenInPlace(b); - - return boost::shared_ptr(new JacobianFactor(terms, b - b_, model_)); -} - -/* ************************************************************************* */ -void LinearizedFactor::print(const std::string& s, const KeyFormatter& keyFormatter) const { - this->noiseModel_->print(s + std::string(" model")); - BOOST_FOREACH(const KeyMatrixMap::value_type& p, matrices_) { - gtsam::print(p.second, keyFormatter(p.first)); - } - gtsam::print(b_, std::string("b")); - std::cout << " nonlinear keys: "; - BOOST_FOREACH(const Key& key, this->keys()) - cout << keyFormatter(key) << " "; - lin_points_.print("Linearization Point"); -} - -/* ************************************************************************* */ -bool LinearizedFactor::equals(const NonlinearFactor& other, double tol) const { - const LinearizedFactor* e = dynamic_cast(&other); - if (!e || !Base::equals(other, tol) - || !lin_points_.equals(e->lin_points_, tol) - || !equal_with_abs_tol(b_, e->b_, tol) - || !model_->equals(*e->model_, tol) - || matrices_.size() != e->matrices_.size()) - return false; - - KeyMatrixMap::const_iterator map1 = matrices_.begin(), map2 = e->matrices_.begin(); - for (; map1 != matrices_.end() && map2 != e->matrices_.end(); ++map1, ++map2) - if ((map1->first != map2->first) || !equal_with_abs_tol(map1->second, map2->second, tol)) - return false; - return true; -} - -} // \namespace gtsam diff --git a/gtsam_unstable/nonlinear/LinearizedFactor.h b/gtsam_unstable/nonlinear/LinearizedFactor.h deleted file mode 100644 index 802765d51..000000000 --- a/gtsam_unstable/nonlinear/LinearizedFactor.h +++ /dev/null @@ -1,125 +0,0 @@ -/* ---------------------------------------------------------------------------- - - * GTSAM Copyright 2010, Georgia Tech Research Corporation, - * Atlanta, Georgia 30332-0415 - * All Rights Reserved - * Authors: Frank Dellaert, et al. (see THANKS for the full author list) - - * See LICENSE for the license information - - * -------------------------------------------------------------------------- */ - -/** - * @file LinearizedFactor.h - * @brief A dummy factor that allows a linear factor to act as a nonlinear factor - * @author Alex Cunningham - */ - -#pragma once - -#include -#include -#include - -namespace gtsam { - -/** - * A dummy factor that takes a linearized factor and inserts it into - * a nonlinear graph. - */ -class LinearizedFactor : public gtsam::NoiseModelFactor { - -public: - /** base type */ - typedef gtsam::NoiseModelFactor Base; - typedef LinearizedFactor This; - - /** shared pointer for convenience */ - typedef boost::shared_ptr shared_ptr; - - - /** decoder for keys - avoids the use of a full ordering */ - typedef gtsam::Ordering::InvertedMap KeyLookup; - -protected: - /** hold onto the factor itself */ - // store components of a jacobian factor - typedef std::map KeyMatrixMap; - KeyMatrixMap matrices_; - gtsam::Vector b_; - gtsam::SharedDiagonal model_; /// separate from the noisemodel in NonlinearFactor due to Diagonal/Gaussian - - /** linearization points for error calculation */ - gtsam::Values lin_points_; - - /** default constructor for serialization */ - LinearizedFactor() {} - -public: - - virtual ~LinearizedFactor() {} - - /// @return a deep copy of this factor - virtual gtsam::NonlinearFactor::shared_ptr clone() const { - return boost::static_pointer_cast( - gtsam::NonlinearFactor::shared_ptr(new This(*this))); } - - /** - * Use this constructor with pre-constructed decoders - * @param lin_factor is a gaussian factor with linear keys (no labels baked in) - * @param decoder is a structure to look up the correct keys - * @param values is assumed to have the correct key structure with labels - */ - LinearizedFactor(gtsam::JacobianFactor::shared_ptr lin_factor, - const KeyLookup& decoder, const gtsam::Values& lin_points); - - /** - * Use this constructor with the ordering used to linearize the graph - * @param lin_factor is a gaussian factor with linear keys (no labels baked in) - * @param ordering is the full ordering used to linearize the graph - * @param values is assumed to have the correct key structure with labels - */ - LinearizedFactor(gtsam::JacobianFactor::shared_ptr lin_factor, - const gtsam::Ordering& ordering, const gtsam::Values& lin_points); - - /** Vector of errors, unwhitened, with optional derivatives (ordered by key) */ - virtual gtsam::Vector unwhitenedError(const gtsam::Values& c, - boost::optional&> H = boost::none) const; - - /** - * linearize to a GaussianFactor - * Reimplemented from NoiseModelFactor to directly copy out the - * matrices and only update the RHS b with an updated residual - */ - virtual boost::shared_ptr linearize( - const gtsam::Values& c, const gtsam::Ordering& ordering) const; - - // Testable - - /** print function */ - virtual void print(const std::string& s="", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const; - - /** equals function with optional tolerance */ - virtual bool equals(const NonlinearFactor& other, double tol = 1e-9) const; - - // access functions - - const gtsam::Vector& b() const { return b_; } - inline const gtsam::Values& linearizationPoint() const { return lin_points_; } - -private: - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int version) { - ar & boost::serialization::make_nvp("NonlinearFactor", - boost::serialization::base_object(*this)); - ar & BOOST_SERIALIZATION_NVP(matrices_); - ar & BOOST_SERIALIZATION_NVP(b_); - ar & BOOST_SERIALIZATION_NVP(model_); - ar & BOOST_SERIALIZATION_NVP(lin_points_); - } -}; - -} // \namespace gtsam - diff --git a/gtsam_unstable/nonlinear/tests/testLinearContainerFactor.cpp b/gtsam_unstable/nonlinear/tests/testLinearContainerFactor.cpp deleted file mode 100644 index ed2ec59c6..000000000 --- a/gtsam_unstable/nonlinear/tests/testLinearContainerFactor.cpp +++ /dev/null @@ -1,162 +0,0 @@ -/** - * @file testLinearContainerFactor.cpp - * - * @date Jul 6, 2012 - * @author Alex Cunningham - */ - -#include - -#include - -#include -#include - -using namespace gtsam; - -const gtsam::noiseModel::Diagonal::shared_ptr diag_model2 = noiseModel::Diagonal::Sigmas(Vector_(2, 1.0, 1.0)); -const double tol = 1e-5; - -gtsam::Key l1 = 101, l2 = 102, x1 = 1, x2 = 2; - -Point2 landmark1(5.0, 1.5), landmark2(7.0, 1.5); -Pose2 poseA1(0.0, 0.0, 0.0), poseA2(2.0, 0.0, 0.0); - -/* ************************************************************************* */ -TEST( testLinearContainerFactor, generic_jacobian_factor ) { - - Ordering initOrdering; initOrdering += x1, x2, l1, l2; - - JacobianFactor expLinFactor1( - initOrdering[l1], - Matrix_(2,2, - 2.74222, -0.0067457, - 0.0, 2.63624), - initOrdering[l2], - Matrix_(2,2, - -0.0455167, -0.0443573, - -0.0222154, -0.102489), - Vector_(2, 0.0277052, - -0.0533393), - diag_model2); - - LinearContainerFactor actFactor1(expLinFactor1, initOrdering); - Values values; - values.insert(l1, landmark1); - values.insert(l2, landmark2); - values.insert(x1, poseA1); - values.insert(x2, poseA2); - - // Check reconstruction from same ordering - GaussianFactor::shared_ptr actLinearizationA = actFactor1.linearize(values, initOrdering); - EXPECT(assert_equal(*expLinFactor1.clone(), *actLinearizationA, tol)); - - // Check reconstruction from new ordering - Ordering newOrdering; newOrdering += x1, l1, x2, l2; - GaussianFactor::shared_ptr actLinearizationB = actFactor1.linearize(values, newOrdering); - - JacobianFactor expLinFactor2( - newOrdering[l1], - Matrix_(2,2, - 2.74222, -0.0067457, - 0.0, 2.63624), - newOrdering[l2], - Matrix_(2,2, - -0.0455167, -0.0443573, - -0.0222154, -0.102489), - Vector_(2, 0.0277052, - -0.0533393), - diag_model2); - - EXPECT(assert_equal(*expLinFactor2.clone(), *actLinearizationB, tol)); -} - -/* ************************************************************************* */ -TEST( testLinearContainerFactor, jacobian_factor_withlinpoints ) { - - Ordering ordering; ordering += x1, x2, l1, l2; - - JacobianFactor expLinFactor( - ordering[l1], - Matrix_(2,2, - 2.74222, -0.0067457, - 0.0, 2.63624), - ordering[l2], - Matrix_(2,2, - -0.0455167, -0.0443573, - -0.0222154, -0.102489), - Vector_(2, 0.0277052, - -0.0533393), - diag_model2); - - Values values; - values.insert(l1, landmark1); - values.insert(l2, landmark2); - values.insert(x1, poseA1); - values.insert(x2, poseA2); - - LinearContainerFactor actFactor(expLinFactor, ordering, values); - LinearContainerFactor actFactorNolin(expLinFactor, ordering); - - EXPECT(assert_equal(actFactor, actFactor, tol)); - EXPECT(assert_inequal(actFactor, actFactorNolin, tol)); - EXPECT(assert_inequal(actFactorNolin, actFactor, tol)); - - // Check contents - Values expLinPoint; - expLinPoint.insert(l1, landmark1); - expLinPoint.insert(l2, landmark2); - CHECK(actFactor.linearizationPoint()); - EXPECT(assert_equal(expLinPoint, *actFactor.linearizationPoint())); - - // Check error evaluation - VectorValues delta = values.zeroVectors(ordering); - delta.at(ordering[l1]) = Vector_(2, 1.0, 2.0); - delta.at(ordering[l2]) = Vector_(2, 3.0, 4.0); - Values noisyValues = values.retract(delta, ordering); - double expError = expLinFactor.error(delta); - EXPECT_DOUBLES_EQUAL(expError, actFactor.error(noisyValues), tol); - EXPECT_DOUBLES_EQUAL(expLinFactor.error(values.zeroVectors(ordering)), actFactor.error(values), tol); -} - -/* ************************************************************************* */ -TEST( testLinearContainerFactor, generic_hessian_factor ) { - Matrix G11 = Matrix_(1,1, 1.0); - Matrix G12 = Matrix_(1,2, 2.0, 4.0); - Matrix G13 = Matrix_(1,3, 3.0, 6.0, 9.0); - - Matrix G22 = Matrix_(2,2, 3.0, 5.0, 0.0, 6.0); - Matrix G23 = Matrix_(2,3, 4.0, 6.0, 8.0, 1.0, 2.0, 4.0); - - Matrix G33 = Matrix_(3,3, 1.0, 2.0, 3.0, 0.0, 5.0, 6.0, 0.0, 0.0, 9.0); - - Vector g1 = Vector_(1, -7.0); - Vector g2 = Vector_(2, -8.0, -9.0); - Vector g3 = Vector_(3, 1.0, 2.0, 3.0); - - double f = 10.0; - - Ordering initOrdering; initOrdering += x1, x2, l1, l2; - HessianFactor initFactor(initOrdering[x1], initOrdering[x2], initOrdering[l1], - G11, G12, G13, g1, G22, G23, g2, G33, g3, f); - - Values values; - values.insert(l1, landmark1); - values.insert(l2, landmark2); - values.insert(x1, poseA1); - values.insert(x2, poseA2); - - LinearContainerFactor actFactor(initFactor, initOrdering); - GaussianFactor::shared_ptr actLinearization1 = actFactor.linearize(values, initOrdering); - EXPECT(assert_equal(*initFactor.clone(), *actLinearization1, tol)); - - Ordering newOrdering; newOrdering += l1, x1, x2, l2; - HessianFactor expLinFactor(newOrdering[x1], newOrdering[x2], newOrdering[l1], - G11, G12, G13, g1, G22, G23, g2, G33, g3, f); - GaussianFactor::shared_ptr actLinearization2 = actFactor.linearize(values, newOrdering); - EXPECT(assert_equal(*expLinFactor.clone(), *actLinearization2, tol)); -} - -/* ************************************************************************* */ -int main() { TestResult tr; return TestRegistry::runAllTests(tr); } -/* ************************************************************************* */ diff --git a/gtsam_unstable/nonlinear/tests/testLinearizedFactor.cpp b/gtsam_unstable/nonlinear/tests/testLinearizedFactor.cpp deleted file mode 100644 index 3eebe2fe7..000000000 --- a/gtsam_unstable/nonlinear/tests/testLinearizedFactor.cpp +++ /dev/null @@ -1,69 +0,0 @@ -/** - * @file testLinearizedFactor - * @author Alex Cunningham - */ - -#include -#include -#include -#include -#include - -#include - -using namespace std; -using namespace boost::assign; -using namespace gtsam; - -static const double tol = 1e-5; - -/* ************************************************************************* */ -TEST( testLinearizedFactor, creation ) { - // Create a set of local keys (No robot label) - Key l1 = 11, l2 = 12, - l3 = 13, l4 = 14, - l5 = 15, l6 = 16, - l7 = 17, l8 = 18; - - // creating an ordering to decode the linearized factor - Ordering ordering; - ordering += l1,l2,l3,l4,l5,l6,l7,l8; - - // create a decoder for only the relevant variables - LinearizedFactor::KeyLookup decoder; - decoder[2] = l3; - decoder[4] = l5; - - // create a linear factor - SharedDiagonal model = noiseModel::Unit::Create(2); - JacobianFactor::shared_ptr linear_factor(new JacobianFactor( - ordering[l3], eye(2,2), ordering[l5], 2.0 * eye(2,2), zero(2), model)); - - // create a set of values - build with full set of values - gtsam::Values full_values, exp_values; - full_values.insert(l3, Point2(1.0, 2.0)); - full_values.insert(l5, Point2(4.0, 3.0)); - exp_values = full_values; - full_values.insert(l1, Point2(3.0, 7.0)); - - // create the test LinearizedFactor - // This is called in the constructor of DDFSlot for each linear factor - LinearizedFactor actual1(linear_factor, decoder, full_values); - LinearizedFactor actual2(linear_factor, ordering, full_values); - - EXPECT(assert_equal(actual1, actual2, tol)); - - // Verify the keys - vector expKeys; - expKeys += l3, l5; - EXPECT(assert_container_equality(expKeys, actual1.keys())); - EXPECT(assert_container_equality(expKeys, actual2.keys())); - - // Verify subset of linearization points - EXPECT(assert_equal(exp_values, actual1.linearizationPoint(), tol)); - EXPECT(assert_equal(exp_values, actual2.linearizationPoint(), tol)); -} - -/* ************************************************************************* */ -int main() { TestResult tr; return TestRegistry::runAllTests(tr); } -/* ************************************************************************* */ diff --git a/gtsam_unstable/slam/InvDepthFactor3.h b/gtsam_unstable/slam/InvDepthFactor3.h index 8a0dce1dd..4b28a84d5 100644 --- a/gtsam_unstable/slam/InvDepthFactor3.h +++ b/gtsam_unstable/slam/InvDepthFactor3.h @@ -1,7 +1,14 @@ /** * @file InvDepthFactor3.h - * @brief Inverse Depth Factor + * @brief Inverse Depth Factor based on Civera09tro, Montiel06rss. + * Landmarks are initialized from the first camera observation with + * (x,y,z,theta,phi,inv_depth), where x,y,z are the coordinates of + * the camera. InvDepthCamera provides methods to initialize inverse + * depth landmarks (backproject), and to convert inverse depth + * landmarks to cartesian coordinates (Point3) for visualization, etc. + * The inverse depth parameterization is split into (x,y,z,theta,phi), + * (inv_depth) to make it easy to add a prior on inverse depth alone * @author Chris Beall */ diff --git a/gtsam_unstable/slam/tests/testInvDepthFactor3.cpp b/gtsam_unstable/slam/tests/testInvDepthFactor3.cpp index 5567bc9ce..9ab38bb37 100644 --- a/gtsam_unstable/slam/tests/testInvDepthFactor3.cpp +++ b/gtsam_unstable/slam/tests/testInvDepthFactor3.cpp @@ -21,6 +21,7 @@ using namespace gtsam; static Cal3_S2::shared_ptr K(new Cal3_S2(1500, 1200, 0, 640, 480)); static SharedNoiseModel sigma(noiseModel::Unit::Create(2)); +// camera pose at (0,0,1) looking straight along the x-axis. Pose3 level_pose = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1)); SimpleCamera level_camera(level_pose, *K); @@ -30,13 +31,16 @@ typedef NonlinearEquality PoseConstraint; /* ************************************************************************* */ TEST( InvDepthFactor, optimize) { - // landmark 5 meters infront of camera + // landmark 5 meters infront of camera (camera center at (0,0,1)) Point3 landmark(5, 0, 1); + // get expected projection using pinhole camera Point2 expected_uv = level_camera.project(landmark); InvDepthCamera3 inv_camera(level_pose, K); - LieVector inv_landmark(5, 1., 0., 1., 0., 0.); + LieVector inv_landmark(5, 0., 0., 1., 0., 0.); + // initialize inverse depth with "incorrect" depth of 1/4 + // in reality this is 1/5, but initial depth is guessed LieScalar inv_depth(1./4); gtsam::NonlinearFactorGraph graph; @@ -52,19 +56,20 @@ TEST( InvDepthFactor, optimize) { LevenbergMarquardtParams lmParams; Values result = LevenbergMarquardtOptimizer(graph, initial, lmParams).optimize(); + + // with a single factor the incorrect initialization of 1/4 should not move! EXPECT(assert_equal(initial, result, 1e-9)); /// Add a second camera - // add a camera 1 meter to the right + // add a camera 2 meters to the right Pose3 right_pose = level_pose * Pose3(Rot3(), Point3(2,0,0)); SimpleCamera right_camera(right_pose, *K); - InvDepthCamera3 right_inv_camera(right_pose, K); - - Point3 landmark1(6,0,1); - Point2 right_uv = right_camera.project(landmark1); - + // projection measurement of landmark into right camera + // this measurement disagrees with the depth initialization + // and will push it to 1/5 + Point2 right_uv = right_camera.project(landmark); InverseDepthFactor::shared_ptr factor1(new InverseDepthFactor(right_uv, sigma, Symbol('x',2), Symbol('l',1),Symbol('d',1),K)); @@ -74,16 +79,16 @@ TEST( InvDepthFactor, optimize) { initial.insert(Symbol('x',2), right_pose); - // TODO: need to add priors to make this work with -// Values result2 = optimize(graph, initial, -// NonlinearOptimizationParameters(),MULTIFRONTAL, GN); - Values result2 = LevenbergMarquardtOptimizer(graph, initial, lmParams).optimize(); - Point3 l1_result2 = InvDepthCamera3::invDepthTo3D( + + Point3 result2_lmk = InvDepthCamera3::invDepthTo3D( result2.at(Symbol('l',1)), result2.at(Symbol('d',1))); - - EXPECT(assert_equal(landmark1, l1_result2, 1e-9)); + EXPECT(assert_equal(landmark, result2_lmk, 1e-9)); + + // TODO: need to add priors to make this work with + // Values result2 = optimize(graph, initial, + // NonlinearOptimizationParameters(),MULTIFRONTAL, GN); } diff --git a/gtsam_unstable/testing_tools/base/cholChainTest.m b/gtsam_unstable/testing_tools/base/cholChainTest.m new file mode 100644 index 000000000..b1c21fd2c --- /dev/null +++ b/gtsam_unstable/testing_tools/base/cholChainTest.m @@ -0,0 +1,25 @@ +scale = 1e-10; +length = 10000; + +A = spalloc(length, length, 2*length); +b = zeros(length, 1); + +A(1,1) = 1; + +for i = 2:length + A(i, i-1) = 1e2*scale; + A(i, i) = -scale; +end + +L = A'*A; +eta = A'*b; + +R = choleskyNaive(L); +clear opts +opts.LT = true; +d = R' \ eta; %linsolve(R', eta, opts); + +clear opts +opts.UT = true; +x = R \ d; %linsolve(R, d, opts); + diff --git a/gtsam_unstable/testing_tools/base/cholScalingTest.m b/gtsam_unstable/testing_tools/base/cholScalingTest.m new file mode 100644 index 000000000..ed347a523 --- /dev/null +++ b/gtsam_unstable/testing_tools/base/cholScalingTest.m @@ -0,0 +1,157 @@ + +badscale = 1e-8; + +% Create random Jacobian +% A = [ +% badscale.*(rand(3)-.5) zeros(3) zeros(3,6) +% zeros(3) badscale.*(rand(3)-.5) zeros(3,6) +% rand(3,6)-.5 zeros(3,6) +% zeros(2,6) badscale.*(rand(2,6)-.5) +% eye(6) -eye(6) +% ]; +% b = [ +% repmat(badscale, 3,1) +% repmat(badscale, 3,1) +% repmat(1, 3,1) +% repmat(badscale, 2,1) +% repmat(1, 6,1) +% ]; + +Acoeffs = [ + 1 11 badscale + (1:10)' (1:10)' -ones(10,1) + (1:10)' (2:11)' ones(10,1) + ]'; +A = full(sparse(Acoeffs(1,:), Acoeffs(2,:), Acoeffs(3,:))); +b = zeros(size(A,1), 1); + +% A = zeros(2*15, 2*10); +% for j = 2:10 +% A(j*2-3 : j*2-2, j*2-3:j*2) = rand(2,4) - 0.5; +% end +% A(19:20, 1:2) = badscale * (rand(2) - 0.5); +% A(21:22, [ 3 4 11 12 ]) = rand(2,4) - 0.5; +% A(23:24, [ 1 2 5 6 ]) = rand(2,4) - 0.5; +% A(25:26, [ 5 6 17 18 ]) = rand(2,4) - 0.5; +% A(27:28, [ 9 10 13 14 ]) = rand(2,4) - 0.5; +% A(29:30, [ 7 8 15 16 ]) = rand(2,4) - 0.5; +% b = zeros(2*15, 1); +% b(1:18) = rand(18,1) - 0.5; +% b(19:20) = badscale * (rand(2,1) - 0.5); +% b(21:30) = rand(10,1) - 0.5; + +% Acoeffs = [ +% 1 1 1 1 1 1 2 2 2 2 2 3 3 3 3 4 4 4 5 5 6 1 1 1 2 2 2 3 3 3 4 4 4 5 5 5 6 6 6 1 1 1 1 1 1 2 2 2 2 2 2 3 3 3 3 3 3 4 4 4 4 4 4 5 5 5 5 5 5 6 6 6 6 6 6 1 1 1 1 1 1 2 2 2 2 2 2 3 3 3 3 3 3 4 4 4 4 4 4 5 5 5 5 5 5 6 6 6 6 6 6 1 2 3 4 5 6 1 1 1 1 1 1 2 2 2 2 2 2 3 3 3 3 3 3 4 4 4 4 4 4 5 5 5 5 5 5 6 6 6 6 6 6 1 2 3 4 5 6 1 2 3 4 5 6 7 7 7 8 8 9 7 7 7 7 7 7 8 8 8 8 8 8 9 9 9 9 9 9 7 7 7 7 7 7 8 8 8 8 8 8 9 9 9 9 9 9 7 8 9 7 7 7 7 7 7 8 8 8 8 8 8 9 9 9 9 9 9 7 8 9 7 8 9 10 10 10 10 10 10 11 11 11 11 11 12 12 12 12 13 13 13 14 14 15 10 10 10 10 10 10 11 11 11 11 11 11 12 12 12 12 12 12 13 13 13 13 13 13 14 14 14 14 14 14 15 15 15 15 15 15 10 11 12 13 14 15 10 10 10 10 10 10 11 11 11 11 11 11 12 12 12 12 12 12 13 13 13 13 13 13 14 14 14 14 14 14 15 15 15 15 15 15 10 11 12 13 14 15 10 11 12 13 14 15 16 16 16 16 16 16 17 17 17 17 17 18 18 18 18 19 19 19 20 20 21 16 17 18 19 20 21 16 16 16 16 16 16 17 17 17 17 17 17 18 18 18 18 18 18 19 19 19 19 19 19 20 20 20 20 20 20 21 21 21 21 21 21 16 17 18 19 20 21 16 17 18 19 20 21 22 22 22 22 22 22 22 22 22 23 23 23 23 23 23 24 24 24 24 24 25 25 25 25 26 26 26 27 27 28 23 24 25 26 27 28 23 24 25 26 27 28 29 29 30 30 30 31 31 31 32 32 32 33 33 33 33 34 34 34 34 34 35 35 35 35 35 35 36 36 36 36 36 36 37 37 37 37 37 37 38 38 38 38 38 38 39 39 39 39 39 39 40 40 40 40 40 40 41 41 41 41 41 41 42 42 42 42 42 42 43 43 43 43 43 43 44 44 44 44 44 44 30 30 30 31 31 31 32 32 32 33 33 33 33 34 34 34 34 34 35 35 35 35 35 35 36 36 36 36 36 36 37 37 37 37 37 37 38 38 38 38 38 38 39 39 39 39 39 39 40 40 40 40 40 40 41 41 41 41 41 41 42 42 42 42 42 42 43 43 43 43 43 43 44 44 44 44 44 44 33 34 34 35 35 35 36 36 36 37 37 37 38 38 38 39 39 39 40 40 40 41 41 41 42 42 42 43 43 43 44 44 44 36 37 37 38 38 38 39 39 39 40 40 40 41 41 41 42 42 42 43 43 43 44 44 44 30 30 30 31 31 31 32 32 32 33 33 33 33 33 33 34 34 34 34 34 34 35 35 35 35 35 35 36 36 36 36 36 36 37 37 37 37 37 37 38 38 38 38 38 38 39 39 39 39 39 39 40 40 40 40 40 40 41 41 41 41 41 41 42 42 42 42 42 42 43 43 43 43 43 43 44 44 44 44 44 44 39 40 41 42 42 42 43 43 43 44 44 44 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 45 45 46 46 46 47 47 47 48 48 48 48 48 48 49 49 49 49 49 49 50 50 50 50 50 50 45 45 45 46 46 46 47 47 47 48 48 48 49 49 49 50 50 50 45 46 47 48 49 50 +% 39 40 41 42 43 44 40 41 42 43 44 41 42 43 44 42 43 44 42 44 42 1 2 3 1 2 3 1 2 3 1 2 3 1 2 3 1 2 3 10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15 4 5 6 7 8 9 4 5 6 7 8 9 4 5 6 7 8 9 4 5 6 7 8 9 4 5 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40 41 39 40 41 39 40 41 39 40 41 42 39 40 41 42 43 39 40 41 42 43 44 39 40 41 42 43 44 39 40 41 42 43 44 39 40 41 42 43 44 39 40 41 42 43 44 39 40 41 42 43 44 39 40 41 42 43 44 39 40 41 42 43 44 39 40 41 42 43 44 39 40 41 42 43 44 16 17 18 16 17 18 16 17 18 16 17 18 19 16 17 18 19 20 16 17 18 19 20 21 16 17 18 19 20 21 16 17 18 19 20 21 16 17 18 19 20 21 16 17 18 19 20 21 16 17 18 19 20 21 16 17 18 19 20 21 16 17 18 19 20 21 16 17 18 19 20 21 16 17 18 19 20 21 1 1 2 1 2 3 1 2 3 1 2 3 1 2 3 1 2 3 1 2 3 1 2 3 1 2 3 1 2 3 1 2 3 22 22 23 22 23 24 22 23 24 22 23 24 22 23 24 22 23 24 22 23 24 22 23 24 10 11 12 10 11 12 10 11 12 10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15 10 11 12 13 14 15 25 26 27 26 27 28 25 27 29 25 26 30 45 45 45 45 45 45 45 45 45 45 45 45 45 45 45 4 5 6 4 5 6 4 5 6 4 5 6 7 8 9 4 5 6 7 8 9 4 5 6 7 8 9 16 17 18 16 17 18 16 17 18 19 20 21 19 20 21 19 20 21 45 45 45 45 45 45 +% 2287.81 -4.4988e-05 0.00396445 -0.00100866 6.88479 -0.382977 2287.81 -0.0282353 -6.88394 -0.000338518 -0.210359 2287.43 0.384701 0.211465 -0.000303552 0.409179 574.421 -0.33448 -0.086675 573.083 572.434 0.000175554 -1.36517 0.05849 1.36507 0.000112365 0.0189909 -0.058652 -0.0188071 3.14326e-05 -0.0247666 -71.2266 0.0198345 0.00567252 -0.0219283 -71.2443 -71.2327 0.02605 -0.00547148 42.1211 427.311 -13.0572 0.0738133 -0.0064156 0.0071859 425.771 -40.7137 40.8349 -0.00719115 -0.0660657 0.0058001 -39.2512 16.9899 430.388 -0.00195469 -0.00782391 3.41702e-05 0.532335 -0.69246 -1.01117 -0.51164 0.0871608 0.000338874 -0.0645723 -1.86503 0.0118343 -0.184545 0.00037516 -0.353041 -5.38585 0.256705 2.13342 -0.0527851 -0.910563 0.00685038 -2288.11 -0.319849 1.49778 0.00131762 -6.68744 0.436231 0.318124 -2288.11 1.17676 6.68538 -0.000179114 0.288793 -1.53826 -1.20334 -2289.06 -0.435568 -0.295666 0.000650458 -8.20257 -0.00495529 -1.40144 -1.19995 -721.834 0.999144 0.0115191 1.39146 0.00206421 0.241407 0.578931 -715.253 -0.00426102 8.23871 0.0319042 -712.673 -0.687971 0.134907 1.78921e-05 -0.000506192 -0.00661338 0.00136493 0.000168206 -0.00104316 0.819305 0.0028821 0.00347505 -0.000315376 -0.197366 -0.0521121 0.00209998 0.830532 0.0283978 0.198642 0.000553189 -0.0787171 0.00964912 0.0871257 1.43774 0.0514481 0.0844689 -0.000378355 -3.5015 -0.389049 -0.260307 0.791191 147.416 -0.664512 -5.2737 0.465659 -0.142763 -0.154666 -0.578578 142.184 0.51651 7.02367 3.46957 140.242 0.689716 -0.134755 0.00138855 -0.00029297 -4.60677e-07 -5.85457e-06 0.00341196 -1.84581e-07 -0.169162 -0.143293 -0.103757 0.971775 -9.55431 -17.9962 0.0254247 37.4517 -0.0209152 -0.00499967 37.3707 37.3282 1.62285 10.577 -1.26238 -10.5926 1.04948 -0.975285 -0.167226 -2.22364 0.016771 0.755791 -0.415351 -10.4962 -16.5666 1.33474 1.44369 -1.04654 -11.0613 0.329368 -101.978 -0.0119957 -0.19074 -0.671635 -143.392 0.564983 1.84747 0.281797 0.00213787 0.13017 0.483793 -138.977 0.0625116 102.371 -1.91922 -137.339 -0.576069 0.111915 0.00133071 0.000165007 -0.00101693 -3.36239 -0.383114 -0.255928 0.672042 143.394 -0.564846 -5.15865 0.455748 -0.139196 -0.130105 -0.483446 138.993 0.507372 6.83154 3.4007 137.342 0.577777 -0.111759 3.88677e-05 0.00503247 9.4483e-06 2.00827 0.481391 -16.6988 1.36255 2075.39 -21.4475 18.6028 0.118129 0.928177 2065.47 16.8895 -0.0624046 -21.3263 0.313145 1618.3 -0.696466 1.66511 -0.11786 -2.34839 1.47139 121.564 83.1783 -0.597982 73.8588 453.099 -43.4199 16.1018 -0.292859 -1.68581 0.851333 44.5456 454.444 -37.9494 4.16356 -0.404957 0.0926619 -10.0948 45.2476 595.572 -1.03824 0.501659 0.00710507 -3.69312 -0.816079 0.57251 0.184137 -0.868655 -11.6822 -105.54 10.8294 1.39689 -1.49873 -15.7957 2.6502 12.1566 136.446 -25.4427 -11.7228 1.02809 -0.247507 0.0527668 -0.0277195 2.42197 0.00384665 0.0175 -0.11796 -230.563 20.5743 -15.8678 0.290267 1.68717 -0.781925 -21.9179 -231.021 30.1778 -4.17005 0.402651 -0.090854 1.80197 -56.0322 -523.372 0.824811 -0.599641 0.00201121 9.98286 2.35013 -1.08981 -0.184251 0.869351 11.6984 241.842 -24.8713 -1.73038 1.499 15.7958 -3.17923 -25.6167 -278.632 43.9887 11.7484 -1.01758 0.256927 -0.000173169 2.83811e-05 9.31621e-06 0.000454237 7.52262e-06 2.70158e-05 -0.0648002 0.440784 0.41821 0.0812547 0.126035 -1.56364 1843.62 -0.355824 0.475767 -0.0805948 -0.858259 0.108379 1840.7 -3.01662 -0.0919503 0.0980639 -0.0266571 1805.55 0.218566 -0.130812 -0.00462006 5.98526 80.031 -4.44405 -1.46989 59.0592 41.4861 0.00282623 -0.0446192 -0.829691 -0.0244541 -0.00583518 0.0593599 -1893.05 3.19006 2.79399 0.0800716 0.85747 -0.153214 -2.60826 -1888.14 -1.83865 0.0969816 -0.0957967 0.0293474 -1.92619 10.3398 -1829.97 -0.145453 0.164351 0.00145373 -127.296 4.93098 2.88018 -5.98846 -80.0564 4.3375 85.9339 -8.44532 2.98893 1.46887 -0.00670723 -59.1236 8.97193 156.679 -79.0075 -41.5417 -0.0308801 -0.0062731 0.00357702 -0.000757383 -6.11439e-06 -0.000114653 0.0662806 0.002298 -0.722071 -0.400598 1.91164 -0.489896 -0.344824 5.17743 40.7839 0.532611 3.60743 25.5863 0.0328058 0.0141742 -0.0014014 4.48646e-06 -0.0900153 290.386 -9.1978 0.557336 -0.00363946 0.00815145 0.312402 235.477 10.5406 -0.0359198 -0.0205744 -0.0212263 58.598 -0.34321 -0.237419 0.0151755 -0.000827825 -0.00378382 2.31215 0.0865428 0.827867 0.20952 0.0112224 -0.00668525 0.000451993 1.89268 0.00939462 0.00482704 0.134508 0.0547661 -0.020441 0.0974203 0.00357506 -0.0250199 0.890056 0.0225332 985.69 9895.62 -941.069 9934.27 -947.837 438.528 -345.132 979.184 9934.92 0.0177665 -3278.68 -770.121 4.76668e+06 3278.67 -0.120885 -457.249 -2.58439e-08 4.76668e+06 770.408 457.656 0.061764 1.12683e-07 -1.7931e-07 4.76668e+06 -0.270455 50118.6 11772.3 -7.34779e+07 -3.98573e-07 1.73731e-06 -50118.6 1.8402 6989.65 9.42908e-05 -7.34779e+07 -2.76405e-06 -11776.6 -6995.85 -0.940215 -0.000410931 0.000654026 -7.34779e+07 0.00811404 0.0814525 -0.00774224 -0.0184803 0.00213952 0.0031555 0.0817713 -0.00780125 0.00360709 0.00162103 0.0188445 0.00408996 -0.00284278 0.00806293 0.0817643 -0.00621093 -0.00338433 0.000119026 0.419025 -0.0483669 -0.0697953 62.59 628.316 -59.4554 -0.0366686 -0.427595 -0.0953231 630.753 -60.2293 27.513 0.143285 0.0747974 -0.0024126 -21.6107 61.8457 630.826 -985.806 -9896.05 936.399 -9934.43 948.627 -433.306 340.347 -974.044 -9935.59 -2.78565e-08 -0.062348 -0.0143053 -4.76668e+06 0.0623481 -6.59641e-09 -0.00898977 2.58439e-08 -4.76668e+06 0.0143052 0.00898972 -1.46467e-09 -1.12683e-07 1.7931e-07 -4.76668e+06 -8.57766e-07 -0.961089 -0.220515 7.34779e+07 3.98573e-07 -1.73731e-06 0.961089 -2.0349e-07 -0.138577 -9.42908e-05 7.34779e+07 2.76405e-06 0.220513 0.138576 -4.46106e-08 0.000410931 -0.000654026 7.34779e+07 -0.00811302 -0.0814432 0.00770657 0.0184803 -0.00213952 -0.0031555 -0.081759 0.00780704 -0.00356616 -0.00162103 -0.0188445 -0.00408996 0.00280111 -0.00801639 -0.0817685 0.00621093 0.00338433 -0.000119026 -8.10789e-06 9.38675e-07 1.38443e-06 -62.59 -628.316 59.4554 7.11197e-07 8.26764e-06 1.79441e-06 -630.753 60.2293 -27.513 -2.72494e-06 -1.48482e-06 5.22212e-08 21.6107 -61.8457 -630.826 47771.6 -2.59008e-10 47771.6 1.12931e-09 -1.79705e-09 47771.6 -733309 -3.9945e-09 1.74113e-08 9.41006e-07 -733309 -2.77013e-08 -4.10102e-06 6.52706e-06 -733309 -0.000184427 2.13517e-05 3.14908e-05 1.61773e-05 0.000188061 4.08163e-05 -6.19829e-05 -3.37744e-05 1.18784e-06 0.624637 6.27048 -0.593354 6.2948 -0.601077 0.274575 -0.215671 0.617209 6.29553 -3086.07 3.97695e-09 -3086.07 -1.73321e-08 2.75852e-08 -3086.07 -7.82805e-07 9.06276e-08 1.33663e-07 6.86649e-08 7.98228e-07 1.73246e-07 -2.63088e-07 -1.43356e-07 5.04181e-09 0.00263989 0.0265008 -0.00250768 0.0266035 -0.00254032 0.00116043 -0.000911485 0.00260849 0.0266066 -100.11 -0.00525915 0.0104726 0.00525634 -100.11 -0.0198017 -0.010474 0.0198009 -100.11 10.6086 -0.926696 3.62993 23.5951 238.077 -8.18077 -1.22287 -10.8263 1.89393 237.153 -22.6991 23.4062 -1.76825 -2.41457 -0.0616879 -22.5028 10.4116 238.096 -161.492 14.1068 -55.2574 -360.667 -3639.18 125.049 18.6154 164.806 -28.8309 -3625.05 346.972 -357.78 26.9175 36.7563 0.939047 343.971 -159.148 -3639.47 50763.9 -4.58354e-08 7.43348e-08 7.10928e-11 -9.18489e-07 1.98151e-07 4.02735e-08 50763.9 -1.55537e-07 9.1844e-07 1.58394e-10 2.9156e-07 -1.00279e-07 1.72814e-07 50763.9 -1.97996e-07 -2.91353e-07 -1.33878e-11 1.60884e-07 -0.00139147 0.000294349 7445.41 4.16547e-06 7.97843e-06 0.00139139 2.30892e-07 0.000450336 -4.16447e-06 7445.41 -3.96088e-06 -0.000294243 -0.000450105 -4.7114e-08 -7.97896e-06 3.95983e-06 7445.41 -50763.9 -50763.9 -50763.9 -1.12348e-10 2.42225e-11 -7445.37 1.12348e-10 3.56335e-11 -7445.37 -2.42227e-11 -3.56336e-11 -7445.37 -0.00232162 -0.0203921 0.00249018 189.099 110.397 2413.45 -2914.92 -1701.78 -37202.7 0.00097994 0.00717406 -0.000488044 0.0246177 0.0377841 0.344154 -1.54581 -15.6714 1.35709 -15.7297 1.51248 -0.506767 0.181799 -1.37928 -12.9303 0.136706 -0.00229078 0.129264 1.93686 19.6358 -1.7004 -0.81197 2.8464 33.6954 21.0979 -2.04157 0.680863 -50.1689 4.57108 -2.05442 -1.10037 2.09288 31.5276 1.54581 15.6714 -1.35709 15.7297 -1.51248 0.506767 -0.181799 1.37928 12.9303 -1.93686 -19.6358 1.7004 -21.0979 2.04157 -0.680863 1.10037 -2.09288 -31.5276 -0.178415 -0.124054 0.0255782 -1.21786 0.101649 1.09042 +% ]; +% Ab = sparse(Acoeffs(1,:), Acoeffs(2,:), Acoeffs(3,:)); +% A = full(Ab(:,1:end-1)); +% b = full(Ab(:,end)); + +% Solve with MATLAB +x_true = A \ b; + +% Form Hessian +L = A'*A; +l = A'*b; + +% Eliminate badly-conditioned system. Use this custom choleskyNaive function +% that does no internal pivoting or scaling to simulate the case where the +% bad conditioning occurs between fronts. +R = choleskyNaive(L); +if isempty(R) + fprintf('Cholesky failed on badly-scaled system with a negative pivot\n'); +else + clear opts + opts.LT = true; + d = linsolve(R', l, opts); + + % Solve badly-conditioned system. + clear opts + opts.UT = true; + x = linsolve(R, d, opts); + + % Compute error + fprintf('Solution error with Cholesky on badly-scaled system: %g\n', ... + max(abs(x - x_true))); +end + +% Form scaled system from Jacobian +% Aqr = [ +% A(1:9, :) +% -eye(6) eye(6) ]; +% Si = full(qr(sparse(Aqr))); +% Si = Si(1:size(Si,2), :); +% S = eye(size(Si,1)) / Si; + +S = eye(size(A,2)); + +% Aqr = [ +% A(19:20, :) +% -eye(6) eye(6) ]; + +% Aqr = A(1:20, :); +% Si = full(qr(sparse(Aqr))); +% Si = Si(1:size(Si,2), :); +% S = eye(size(Si,1)) / Si; + +% bandwidth = 6; +% Lchol = diag(diag(L)); +% for i = 1:bandwidth +% Lchol = Lchol + diag(diag(L,i),i) + diag(diag(L,-i),-i); +% end +% Si = chol(Lchol); +% S = inv(Si); + +%Si = diag(sqrt(diag(L))); +% S = [ +% eye(6) zeros(6) +% eye(6) eye(6) ]; +Ap = A * S; +Lp = Ap'*Ap; +lp = Ap'*b; + +% Eliminate scaled system +Rp = choleskyNaive(Lp); +if isempty(Rp) + fprintf('Cholesky failed on scaled system with a negative pivot\n'); +else + clear opts + opts.LT = true; + dp = linsolve(Rp', lp, opts); + + % Solve rescaled system. + clear opts + opts.UT = true; + xp = S * linsolve(Rp, dp, opts); + + % Compute error + fprintf('Solution error with Cholesky from rescaled Jacobian: %g\n', ... + max(abs(xp - x_true))); +end + + +% Form scaled system from Hessian +Lph = S' * (L * S); +lph = S' * l; + +% Eliminate scaled system +Rph = choleskyNaive(Lph); +if isempty(Rph) + fprintf('Cholesky failed on scaled system with a negative pivot\n'); +else + clear opts + opts.LT = true; + dph = linsolve(Rph', lph, opts); + + % Solve rescaled system. + clear opts + opts.UT = true; + xph = S * linsolve(Rph, dph, opts); + + % Compute error + fprintf('Solution error with Cholesky from rescaled Hessian: %g\n', ... + max(abs(xph - x_true))); +end + diff --git a/gtsam_unstable/testing_tools/base/choleskyNaive.m b/gtsam_unstable/testing_tools/base/choleskyNaive.m new file mode 100644 index 000000000..f7d44d5c3 --- /dev/null +++ b/gtsam_unstable/testing_tools/base/choleskyNaive.m @@ -0,0 +1,33 @@ +function A = choleskyNaive(A) +%ELIMINATEPP Gaussian elimination with partial pivoting. Eliminates a +%matrix A (sparse or full) into an upper-triangular factor R. + +% Loop over rows of A +q = min(size(A,2), size(A,1)); +lastA = 0; +for i = 1:q + % Check for valid pivot + if A(i,i) <= 0.0 + A = []; + return; + end + + if lastA == A(i,i) + 1; + end + lastA = A(i,i); + + % Scale row to be the square-root factor + A(i,i) = sqrt(A(i,i)); + A(i,i+1:end) = A(i,i+1:end) ./ A(i,i); + + % Apply low-rank update to remanining lower-right submatrix + A(i+1:end, i+1:end) = A(i+1:end, i+1:end) - ... + A(i, i+1:end)' * A(i, i+1:end); + + % Zero-out the column below the current row + A(i+1:end, i) = 0; +end + +end + diff --git a/matlab.h b/matlab.h index dfc0117e7..17f96bcd6 100644 --- a/matlab.h +++ b/matlab.h @@ -45,9 +45,9 @@ namespace gtsam { /// Extract all Point3 values into a single matrix [x y z] Matrix extractPoint3(const Values& values) { - size_t j=0; Values::ConstFiltered points = values.filter(); Matrix result(points.size(),3); + size_t j=0; BOOST_FOREACH(const Values::ConstFiltered::KeyValuePair& key_value, points) result.row(j++) = key_value.value.vector(); return result; @@ -55,19 +55,24 @@ namespace gtsam { /// Extract all Pose2 values into a single matrix [x y theta] Matrix extractPose2(const Values& values) { - size_t j=0; Values::ConstFiltered poses = values.filter(); Matrix result(poses.size(),3); + size_t j=0; BOOST_FOREACH(const Values::ConstFiltered::KeyValuePair& key_value, poses) result.row(j++) << key_value.value.x(), key_value.value.y(), key_value.value.theta(); return result; } + /// Extract all Pose3 values + Values allPose3s(const Values& values) { + return values.filter(); + } + /// Extract all Pose3 values into a single matrix [r11 r12 r13 r21 r22 r23 r31 r32 r33 x y z] Matrix extractPose3(const Values& values) { - size_t j=0; Values::ConstFiltered poses = values.filter(); Matrix result(poses.size(),12); + size_t j=0; BOOST_FOREACH(const Values::ConstFiltered::KeyValuePair& key_value, poses) { result.row(j).segment(0, 3) << key_value.value.rotation().matrix().row(0); result.row(j).segment(3, 3) << key_value.value.rotation().matrix().row(1); @@ -78,7 +83,6 @@ namespace gtsam { return result; } - /// perturb all Point2 using normally distributed noise void perturbPoint2(Values& values, double sigma, int32_t seed = 42u) { noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(2,sigma); diff --git a/matlab/+gtsam/EQUALITY.m b/matlab/+gtsam/EQUALITY.m index a387e1154..ef7513e82 100644 --- a/matlab/+gtsam/EQUALITY.m +++ b/matlab/+gtsam/EQUALITY.m @@ -6,7 +6,7 @@ if nargin<4,tol=1e-9;end sameSize = size(expected)==size(actual); if all(sameSize) equal = abs(expected-actual) -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include - -using namespace std; -using namespace gtsam; -using namespace gtsam::symbol_shorthand; - -typedef Pose2 Pose; - -typedef NoiseModelFactor1 NM1; -typedef NoiseModelFactor2 NM2; -noiseModel::Unit::shared_ptr model = noiseModel::Unit::Create(Pose::Dim()); - -int main(int argc, char *argv[]) { - - const size_t steps = 50000; - - cout << "Playing forward " << steps << " time steps..." << endl; - - ISAM2 isam2; - - // Times - vector times(steps); - - for(size_t step=0; step < steps; ++step) { - - Values newVariables; - NonlinearFactorGraph newFactors; - - // Collect measurements and new variables for the current step - gttic_(Create_measurements); - if(step == 0) { - // Add prior - newFactors.add(PriorFactor(0, Pose(), noiseModel::Unit::Create(Pose::Dim()))); - newVariables.insert(0, Pose()); - } else { - Vector eta = Vector::Random(Pose::Dim()) * 0.1; - Pose2 between = Pose().retract(eta); - // Add between - newFactors.add(BetweenFactor(step-1, step, between, model)); - newVariables.insert(step, isam2.calculateEstimate(step-1) * between); - } - - gttoc_(Create_measurements); - - // Update iSAM2 - gttic_(Update_ISAM2); - isam2.update(newFactors, newVariables); - gttoc_(Update_ISAM2); - - tictoc_finishedIteration_(); - - tictoc_getNode(node, Update_ISAM2); - times[step] = node->time(); - - if(step % 1000 == 0) { - cout << "Step " << step << endl; - tictoc_print_(); - } - } - - tictoc_print_(); - - // Write times - ofstream timesFile("times.txt"); - BOOST_FOREACH(double t, times) { - timesFile << t << "\n"; } - - return 0; -} diff --git a/wrap/Method.cpp b/wrap/Method.cpp index 9e959dc9a..b327ac7dc 100644 --- a/wrap/Method.cpp +++ b/wrap/Method.cpp @@ -37,6 +37,7 @@ void Method::addOverload(bool verbose, bool is_const, const std::string& name, this->returnVals.push_back(retVal); } +/* ************************************************************************* */ void Method::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, const string& cppClassName, const std::string& matlabQualName, diff --git a/wrap/Module.cpp b/wrap/Module.cpp index b54a05e9d..980246922 100644 --- a/wrap/Module.cpp +++ b/wrap/Module.cpp @@ -21,9 +21,10 @@ #include "FileWriter.h" #include "TypeAttributesTable.h" #include "utilities.h" + +//#define BOOST_SPIRIT_DEBUG #include "spirit_actors.h" -//#define BOOST_SPIRIT_DEBUG #include #include #include @@ -68,23 +69,40 @@ void handle_possible_template(vector& classes, const Class& cls, const st } } +/* ************************************************************************* */ +Module::Module(const std::string& moduleName, bool enable_verbose) +: name(moduleName), verbose(enable_verbose) +{ +} + /* ************************************************************************* */ Module::Module(const string& interfacePath, - const string& moduleName, bool enable_verbose) : name(moduleName), verbose(enable_verbose) + const string& moduleName, bool enable_verbose) +: name(moduleName), verbose(enable_verbose) { + // read interface file + string interfaceFile = interfacePath + "/" + moduleName + ".h"; + string contents = file_contents(interfaceFile); + + // execute parsing + parseMarkup(contents); +} + +/* ************************************************************************* */ +void Module::parseMarkup(const std::string& data) { // these variables will be imperatively updated to gradually build [cls] // The one with postfix 0 are used to reset the variables after parse. string methodName, methodName0; bool isConst, isConst0 = false; - ReturnValue retVal0, retVal; + ReturnValue retVal0(verbose), retVal(verbose); Argument arg0, arg; ArgumentList args0, args; vector arg_dup; ///keep track of duplicates - Constructor constructor0(enable_verbose), constructor(enable_verbose); - Deconstructor deconstructor0(enable_verbose), deconstructor(enable_verbose); - StaticMethod static_method0(enable_verbose), static_method(enable_verbose); - Class cls0(enable_verbose),cls(enable_verbose); - GlobalFunction globalFunc0(enable_verbose), globalFunc(enable_verbose); + Constructor constructor0(verbose), constructor(verbose); + Deconstructor deconstructor0(verbose), deconstructor(verbose); + StaticMethod static_method0(verbose), static_method(verbose); + Class cls0(verbose),cls(verbose); + GlobalFunction globalFunc0(verbose), globalFunc(verbose); ForwardDeclaration fwDec0, fwDec; vector namespaces, /// current namespace tag namespaces_return; /// namespace for current return type @@ -110,7 +128,7 @@ Module::Module(const string& interfacePath, (str_p("string") | "bool" | "size_t" | "int" | "double" | "char" | "unsigned char"); Rule keywords_p = - (str_p("const") | "static" | "namespace" | basisType_p); + (str_p("const") | "static" | "namespace" | "void" | basisType_p); Rule eigenType_p = (str_p("Vector") | "Matrix"); @@ -125,8 +143,7 @@ Module::Module(const string& interfacePath, Rule namespace_arg_p = namespace_name_p[push_back_a(arg.namespaces)] >> str_p("::"); Rule argEigenType_p = - eigenType_p[assign_a(arg.type)] >> - !ch_p('*')[assign_a(arg.is_ptr,true)]; + eigenType_p[assign_a(arg.type)]; Rule eigenRef_p = !str_p("const") [assign_a(arg.is_const,true)] >> @@ -137,7 +154,7 @@ Module::Module(const string& interfacePath, !str_p("const") [assign_a(arg.is_const,true)] >> *namespace_arg_p >> className_p[assign_a(arg.type)] >> - (ch_p('*')[assign_a(arg.is_ptr,true)] | ch_p('&')[assign_a(arg.is_ref,true)]); + !ch_p('&')[assign_a(arg.is_ref,true)]; Rule name_p = lexeme_d[alpha_p >> *(alnum_p | '_')]; @@ -180,10 +197,12 @@ Module::Module(const string& interfacePath, (str_p("template") >> '<' >> name_p[push_back_a(cls.templateArgs)] >> *(',' >> name_p[push_back_a(cls.templateArgs)]) >> '>'); - + + // NOTE: allows for pointers to all types Rule argument_p = ((basisType_p[assign_a(arg.type)] | argEigenType_p | eigenRef_p | classArg_p) - >> name_p[assign_a(arg.name)]) + >> !ch_p('*')[assign_a(arg.is_ptr,true)] + >> name_p[assign_a(arg.name)]) [push_back_a(args, arg)] [assign_a(arg,arg0)]; @@ -200,27 +219,33 @@ Module::Module(const string& interfacePath, Rule namespace_ret_p = namespace_name_p[push_back_a(namespaces_return)] >> str_p("::"); - Rule returnType1_p = - (basisType_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::BASIS)]) | - ((*namespace_ret_p)[assign_a(retVal.namespaces1, namespaces_return)][clear_a(namespaces_return)] - >> (className_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::CLASS)]) >> - !ch_p('*')[assign_a(retVal.isPtr1,true)]) | - (eigenType_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::EIGEN)]); - + // HACK: use const values instead of using enums themselves - somehow this doesn't result in values getting assigned to gibberish + static const ReturnValue::return_category RETURN_EIGEN = ReturnValue::EIGEN; + static const ReturnValue::return_category RETURN_BASIS = ReturnValue::BASIS; + static const ReturnValue::return_category RETURN_CLASS = ReturnValue::CLASS; + static const ReturnValue::return_category RETURN_VOID = ReturnValue::VOID; + + Rule returnType1_p = + (basisType_p[assign_a(retVal.type1)][assign_a(retVal.category1, RETURN_BASIS)]) | + ((*namespace_ret_p)[assign_a(retVal.namespaces1, namespaces_return)][clear_a(namespaces_return)] + >> (className_p[assign_a(retVal.type1)][assign_a(retVal.category1, RETURN_CLASS)]) >> + !ch_p('*')[assign_a(retVal.isPtr1,true)]) | + (eigenType_p[assign_a(retVal.type1)][assign_a(retVal.category1, RETURN_EIGEN)]); + Rule returnType2_p = - (basisType_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::BASIS)]) | + (basisType_p[assign_a(retVal.type2)][assign_a(retVal.category2, RETURN_BASIS)]) | ((*namespace_ret_p)[assign_a(retVal.namespaces2, namespaces_return)][clear_a(namespaces_return)] - >> (className_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::CLASS)]) >> + >> (className_p[assign_a(retVal.type2)][assign_a(retVal.category2, RETURN_CLASS)]) >> !ch_p('*') [assign_a(retVal.isPtr2,true)]) | - (eigenType_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::EIGEN)]); - + (eigenType_p[assign_a(retVal.type2)][assign_a(retVal.category2, RETURN_EIGEN)]); + Rule pair_p = (str_p("pair") >> '<' >> returnType1_p >> ',' >> returnType2_p >> '>') [assign_a(retVal.isPair,true)]; - Rule void_p = str_p("void")[assign_a(retVal.type1)]; + Rule void_p = str_p("void")[assign_a(retVal.type1)][assign_a(retVal.category1, RETURN_VOID)]; - Rule returnType_p = void_p | returnType1_p | pair_p; + Rule returnType_p = void_p | returnType1_p | pair_p; Rule methodName_p = lexeme_d[lower_p >> *(alnum_p | '_')]; @@ -314,40 +339,40 @@ Module::Module(const string& interfacePath, Rule module_p = *module_content_p >> !end_p; - //---------------------------------------------------------------------------- - // for debugging, define BOOST_SPIRIT_DEBUG -# ifdef BOOST_SPIRIT_DEBUG - BOOST_SPIRIT_DEBUG_NODE(className_p); - BOOST_SPIRIT_DEBUG_NODE(classPtr_p); - BOOST_SPIRIT_DEBUG_NODE(classRef_p); - BOOST_SPIRIT_DEBUG_NODE(basisType_p); - BOOST_SPIRIT_DEBUG_NODE(name_p); - BOOST_SPIRIT_DEBUG_NODE(argument_p); - BOOST_SPIRIT_DEBUG_NODE(argumentList_p); - BOOST_SPIRIT_DEBUG_NODE(constructor_p); - BOOST_SPIRIT_DEBUG_NODE(returnType1_p); - BOOST_SPIRIT_DEBUG_NODE(returnType2_p); - BOOST_SPIRIT_DEBUG_NODE(pair_p); - BOOST_SPIRIT_DEBUG_NODE(void_p); - BOOST_SPIRIT_DEBUG_NODE(returnType_p); - BOOST_SPIRIT_DEBUG_NODE(methodName_p); - BOOST_SPIRIT_DEBUG_NODE(method_p); - BOOST_SPIRIT_DEBUG_NODE(class_p); - BOOST_SPIRIT_DEBUG_NODE(namespace_def_p); - BOOST_SPIRIT_DEBUG_NODE(module_p); -# endif - //---------------------------------------------------------------------------- + //---------------------------------------------------------------------------- + // for debugging, define BOOST_SPIRIT_DEBUG +# ifdef BOOST_SPIRIT_DEBUG + BOOST_SPIRIT_DEBUG_NODE(className_p); + BOOST_SPIRIT_DEBUG_NODE(classPtr_p); + BOOST_SPIRIT_DEBUG_NODE(classRef_p); + BOOST_SPIRIT_DEBUG_NODE(basisType_p); + BOOST_SPIRIT_DEBUG_NODE(name_p); + BOOST_SPIRIT_DEBUG_NODE(argument_p); + BOOST_SPIRIT_DEBUG_NODE(argumentList_p); + BOOST_SPIRIT_DEBUG_NODE(constructor_p); + BOOST_SPIRIT_DEBUG_NODE(returnType1_p); + BOOST_SPIRIT_DEBUG_NODE(returnType2_p); + BOOST_SPIRIT_DEBUG_NODE(pair_p); + BOOST_SPIRIT_DEBUG_NODE(void_p); + BOOST_SPIRIT_DEBUG_NODE(returnType_p); + BOOST_SPIRIT_DEBUG_NODE(methodName_p); + BOOST_SPIRIT_DEBUG_NODE(method_p); + BOOST_SPIRIT_DEBUG_NODE(class_p); + BOOST_SPIRIT_DEBUG_NODE(namespace_def_p); + BOOST_SPIRIT_DEBUG_NODE(module_p); +# endif + //---------------------------------------------------------------------------- - // read interface file - string interfaceFile = interfacePath + "/" + moduleName + ".h"; - string contents = file_contents(interfaceFile); - - // and parse contents - parse_info info = parse(contents.c_str(), module_p, space_p); - if(!info.full) { - printf("parsing stopped at \n%.20s\n",info.stop); - throw ParseFailed((int)info.length); - } + // and parse contents + parse_info info = parse(data.c_str(), module_p, space_p); + if(!info.full) { + printf("parsing stopped at \n%.20s\n",info.stop); + cout << "Stopped near:\n" + "class '" << cls.name << "'\n" + "method '" << methodName << "'\n" + "argument '" << arg.name << "'" << endl; + throw ParseFailed((int)info.length); + } //Explicitly add methods to the classes from parents so it shows in documentation BOOST_FOREACH(Class& cls, classes) @@ -356,7 +381,6 @@ Module::Module(const string& interfacePath, cls.methods.insert(inhereted.begin(), inhereted.end()); } - } /* ************************************************************************* */ @@ -409,108 +433,105 @@ void Module::generateIncludes(FileWriter& file) const { /* ************************************************************************* */ void Module::matlab_code(const string& toolboxPath, const string& headerPath) const { - - fs::create_directories(toolboxPath); - - // create the unified .cpp switch file - const string wrapperName = name + "_wrapper"; - string wrapperFileName = toolboxPath + "/" + wrapperName + ".cpp"; - FileWriter wrapperFile(wrapperFileName, verbose, "//"); - vector functionNames; // Function names stored by index for switch - wrapperFile.oss << "#include \n"; - wrapperFile.oss << "#include \n"; - wrapperFile.oss << "#include \n"; - wrapperFile.oss << "\n"; - - // Expand templates - This is done first so that template instantiations are - // counted in the list of valid types, have their attributes and dependencies - // checked, etc. - vector expandedClasses = ExpandTypedefInstantiations(classes, templateInstantiationTypedefs); - - // Dependency check list - vector validTypes = GenerateValidTypes(expandedClasses, forward_declarations); - - // Check that all classes have been defined somewhere - verifyArguments(validTypes, global_functions); - verifyReturnTypes(validTypes, global_functions); - - BOOST_FOREACH(const Class& cls, expandedClasses) { - // verify all of the function arguments - //TODO:verifyArguments(validTypes, cls.constructor.args_list); - verifyArguments(validTypes, cls.static_methods); - verifyArguments(validTypes, cls.methods); - - // verify function return types - verifyReturnTypes(validTypes, cls.static_methods); - verifyReturnTypes(validTypes, cls.methods); - - // verify parents - if(!cls.qualifiedParent.empty() && std::find(validTypes.begin(), validTypes.end(), wrap::qualifiedName("::", cls.qualifiedParent)) == validTypes.end()) - throw DependencyMissing(wrap::qualifiedName("::", cls.qualifiedParent), cls.qualifiedName("::")); - } - - // Create type attributes table and check validity - TypeAttributesTable typeAttributes; - typeAttributes.addClasses(expandedClasses); - typeAttributes.addForwardDeclarations(forward_declarations); - typeAttributes.checkValidity(expandedClasses); - - // Generate includes while avoiding redundant includes - generateIncludes(wrapperFile); - - // create typedef classes - we put this at the top of the wrap file so that collectors and method arguments can use these typedefs - BOOST_FOREACH(const Class& cls, expandedClasses) { - if(!cls.typedefName.empty()) - wrapperFile.oss << cls.getTypedef() << "\n"; - } - wrapperFile.oss << "\n"; - - // Generate collectors and cleanup function to be called from mexAtExit - WriteCollectorsAndCleanupFcn(wrapperFile, name, expandedClasses); - - // generate RTTI registry (for returning derived-most types) - WriteRTTIRegistry(wrapperFile, name, expandedClasses); - - // create proxy class and wrapper code - BOOST_FOREACH(const Class& cls, expandedClasses) { - cls.matlab_proxy(toolboxPath, wrapperName, typeAttributes, wrapperFile, functionNames); - } - - // create matlab files and wrapper code for global functions - BOOST_FOREACH(const GlobalFunctions::value_type& p, global_functions) { - p.second.matlab_proxy(toolboxPath, wrapperName, typeAttributes, wrapperFile, functionNames); - } - - // finish wrapper file - wrapperFile.oss << "\n"; - finish_wrapper(wrapperFile, functionNames); - - wrapperFile.emit(true); + fs::create_directories(toolboxPath); + + // create the unified .cpp switch file + const string wrapperName = name + "_wrapper"; + string wrapperFileName = toolboxPath + "/" + wrapperName + ".cpp"; + FileWriter wrapperFile(wrapperFileName, verbose, "//"); + vector functionNames; // Function names stored by index for switch + wrapperFile.oss << "#include \n"; + wrapperFile.oss << "#include \n"; + wrapperFile.oss << "#include \n"; + wrapperFile.oss << "\n"; + + // Expand templates - This is done first so that template instantiations are + // counted in the list of valid types, have their attributes and dependencies + // checked, etc. + vector expandedClasses = ExpandTypedefInstantiations(classes, templateInstantiationTypedefs); + + // Dependency check list + vector validTypes = GenerateValidTypes(expandedClasses, forward_declarations); + + // Check that all classes have been defined somewhere + verifyArguments(validTypes, global_functions); + verifyReturnTypes(validTypes, global_functions); + + BOOST_FOREACH(const Class& cls, expandedClasses) { + // verify all of the function arguments + //TODO:verifyArguments(validTypes, cls.constructor.args_list); + verifyArguments(validTypes, cls.static_methods); + verifyArguments(validTypes, cls.methods); + + // verify function return types + verifyReturnTypes(validTypes, cls.static_methods); + verifyReturnTypes(validTypes, cls.methods); + + // verify parents + if(!cls.qualifiedParent.empty() && std::find(validTypes.begin(), validTypes.end(), wrap::qualifiedName("::", cls.qualifiedParent)) == validTypes.end()) + throw DependencyMissing(wrap::qualifiedName("::", cls.qualifiedParent), cls.qualifiedName("::")); + + } + + // Create type attributes table and check validity + TypeAttributesTable typeAttributes; + typeAttributes.addClasses(expandedClasses); + typeAttributes.addForwardDeclarations(forward_declarations); + typeAttributes.checkValidity(expandedClasses); + + // Generate includes while avoiding redundant includes + generateIncludes(wrapperFile); + + // create typedef classes - we put this at the top of the wrap file so that collectors and method arguments can use these typedefs + BOOST_FOREACH(const Class& cls, expandedClasses) { + if(!cls.typedefName.empty()) + wrapperFile.oss << cls.getTypedef() << "\n"; + } + wrapperFile.oss << "\n"; + + // Generate collectors and cleanup function to be called from mexAtExit + WriteCollectorsAndCleanupFcn(wrapperFile, name, expandedClasses); + + // generate RTTI registry (for returning derived-most types) + WriteRTTIRegistry(wrapperFile, name, expandedClasses); + + // create proxy class and wrapper code + BOOST_FOREACH(const Class& cls, expandedClasses) { + cls.matlab_proxy(toolboxPath, wrapperName, typeAttributes, wrapperFile, functionNames); + } + + // create matlab files and wrapper code for global functions + BOOST_FOREACH(const GlobalFunctions::value_type& p, global_functions) { + p.second.matlab_proxy(toolboxPath, wrapperName, typeAttributes, wrapperFile, functionNames); } + + // finish wrapper file + wrapperFile.oss << "\n"; + finish_wrapper(wrapperFile, functionNames); + + wrapperFile.emit(true); +} /* ************************************************************************* */ map Module::appendInheretedMethods(const Class& cls, const vector& classes) { - map methods; - if(!cls.qualifiedParent.empty()) - { - //Find Class - BOOST_FOREACH(const Class& parent, classes) - { - //We found the class for our parent - if(parent.name == cls.qualifiedParent.back()) - { - Methods inhereted = appendInheretedMethods(parent, classes); - methods.insert(inhereted.begin(), inhereted.end()); - } - } - } - else - { - methods.insert(cls.methods.begin(), cls.methods.end()); + map methods; + if(!cls.qualifiedParent.empty()) + { + //Find Class + BOOST_FOREACH(const Class& parent, classes) { + //We found the class for our parent + if(parent.name == cls.qualifiedParent.back()) + { + Methods inhereted = appendInheretedMethods(parent, classes); + methods.insert(inhereted.begin(), inhereted.end()); + } } + } else { + methods.insert(cls.methods.begin(), cls.methods.end()); + } - return methods; + return methods; } /* ************************************************************************* */ diff --git a/wrap/Module.h b/wrap/Module.h index b8b84a5fa..27d67f8ea 100644 --- a/wrap/Module.h +++ b/wrap/Module.h @@ -38,9 +38,9 @@ struct Module { typedef std::map Methods; std::string name; ///< module name + bool verbose; ///< verbose flag std::vector classes; ///< list of classes std::vector templateInstantiationTypedefs; ///< list of template instantiations - bool verbose; ///< verbose flag std::vector forward_declarations; std::vector includes; ///< Include statements GlobalFunctions global_functions; @@ -50,6 +50,9 @@ struct Module { const std::string& moduleName, bool enable_verbose=true); + /// Dummy constructor that does no parsing - use only for testing + Module(const std::string& moduleName, bool enable_verbose=true); + //Recursive method to append all methods inhereted from parent classes std::map appendInheretedMethods(const Class& cls, const std::vector& classes); @@ -62,6 +65,10 @@ struct Module { void generateIncludes(FileWriter& file) const; + /// non-const function that performs parsing - typically called by constructor + /// Throws exception on failure + void parseMarkup(const std::string& data); + private: static std::vector ExpandTypedefInstantiations(const std::vector& classes, const std::vector instantiations); static std::vector GenerateValidTypes(const std::vector& classes, const std::vector forwardDeclarations); diff --git a/wrap/ReturnValue.cpp b/wrap/ReturnValue.cpp index ab05762ae..3cb68181b 100644 --- a/wrap/ReturnValue.cpp +++ b/wrap/ReturnValue.cpp @@ -100,28 +100,30 @@ void ReturnValue::wrap_result(const string& result, FileWriter& file, const Type file.oss << " out[1] = wrap_shared_ptr(ret,\"" << matlabType2 << "\");\n"; } else file.oss << " out[1] = wrap< " << return_type(true,arg2) << " >(pairResult.second);\n"; + } else { // Not a pair + + if (category1 == ReturnValue::CLASS) { + string objCopy, ptrType; + ptrType = "Shared" + type1; + const bool isVirtual = typeAttributes.at(cppType1).isVirtual; + if(isVirtual) { + if(isPtr1) + objCopy = result; + else + objCopy = result + ".clone()"; + } else { + if(isPtr1) + objCopy = result; + else + objCopy = ptrType + "(new " + cppType1 + "(" + result + "))"; + } + file.oss << " out[0] = wrap_shared_ptr(" << objCopy << ",\"" << matlabType1 << "\", " << (isVirtual ? "true" : "false") << ");\n"; + } else if(isPtr1) { + file.oss << " Shared" << type1 <<"* ret = new Shared" << type1 << "(" << result << ");" << endl; + file.oss << " out[0] = wrap_shared_ptr(ret,\"" << matlabType1 << "\");\n"; + } else if (matlabType1!="void") + file.oss << " out[0] = wrap< " << return_type(true,arg1) << " >(" << result << ");\n"; } - else if (category1 == ReturnValue::CLASS){ - string objCopy, ptrType; - ptrType = "Shared" + type1; - const bool isVirtual = typeAttributes.at(cppType1).isVirtual; - if(isVirtual) { - if(isPtr1) - objCopy = result; - else - objCopy = result + ".clone()"; - } else { - if(isPtr1) - objCopy = result; - else - objCopy = ptrType + "(new " + cppType1 + "(" + result + "))"; - } - file.oss << " out[0] = wrap_shared_ptr(" << objCopy << ",\"" << matlabType1 << "\", " << (isVirtual ? "true" : "false") << ");\n"; - } else if(isPtr1) { - file.oss << " Shared" << type1 <<"* ret = new Shared" << type1 << "(" << result << ");" << endl; - file.oss << " out[0] = wrap_shared_ptr(ret,\"" << matlabType1 << "\");\n"; - } else if (matlabType1!="void") - file.oss << " out[0] = wrap< " << return_type(true,arg1) << " >(" << result << ");\n"; } /* ************************************************************************* */ diff --git a/wrap/ReturnValue.h b/wrap/ReturnValue.h index 01949e323..7a677532f 100644 --- a/wrap/ReturnValue.h +++ b/wrap/ReturnValue.h @@ -21,23 +21,22 @@ namespace wrap { struct ReturnValue { typedef enum { - CLASS, - EIGEN, - BASIS, - VOID + CLASS = 1, + EIGEN = 2, + BASIS = 3, + VOID = 4 } return_category; ReturnValue(bool enable_verbosity = true) : verbose(enable_verbosity), isPtr1(false), isPtr2(false), - isPair(false), category1(VOID), category2(VOID) + isPair(false), category1(CLASS), category2(CLASS) {} bool verbose; - std::string type1, type2; bool isPtr1, isPtr2, isPair; - std::vector namespaces1, namespaces2; - return_category category1, category2; + std::string type1, type2; + std::vector namespaces1, namespaces2; typedef enum { arg1, arg2, pair diff --git a/wrap/tests/testWrap.cpp b/wrap/tests/testWrap.cpp index d9b0f9ea9..648058c6d 100644 --- a/wrap/tests/testWrap.cpp +++ b/wrap/tests/testWrap.cpp @@ -70,6 +70,83 @@ TEST_UNSAFE( wrap, check_exception ) { CHECK_EXCEPTION(module.matlab_code("actual_deps", headerPath), DependencyMissing); } +/* ************************************************************************* */ +TEST( wrap, small_parse ) { + string moduleName("gtsam"); + Module module(moduleName, true); + + string markup( + string("class Point2 { \n") + + string(" double x() const; \n") + // Method 1 + string(" Matrix returnMatrix() const; \n") + // Method 2 + string(" Point2 returnPoint2() const; \n") + // Method 3 + string(" static Vector returnVector(); \n") + // Static Method 1 + string("};\n")); + module.parseMarkup(markup); + + // check return types + LONGS_EQUAL(1, module.classes.size()); + Class cls = module.classes.front(); + EXPECT(assert_equal("Point2", cls.name)); + EXPECT(!cls.isVirtual); + EXPECT(cls.namespaces.empty()); + LONGS_EQUAL(3, cls.methods.size()); + LONGS_EQUAL(1, cls.static_methods.size()); + + // Method 1 + Method m1 = cls.methods.at("x"); + EXPECT(assert_equal("x", m1.name)); + EXPECT(m1.is_const_); + LONGS_EQUAL(1, m1.argLists.size()); + LONGS_EQUAL(1, m1.returnVals.size()); + + ReturnValue rv1 = m1.returnVals.front(); + EXPECT(!rv1.isPair); + EXPECT(!rv1.isPtr1); + EXPECT(assert_equal("double", rv1.type1)); + EXPECT_LONGS_EQUAL(ReturnValue::BASIS, rv1.category1); + + // Method 2 + Method m2 = cls.methods.at("returnMatrix"); + EXPECT(assert_equal("returnMatrix", m2.name)); + EXPECT(m2.is_const_); + LONGS_EQUAL(1, m2.argLists.size()); + LONGS_EQUAL(1, m2.returnVals.size()); + + ReturnValue rv2 = m2.returnVals.front(); + EXPECT(!rv2.isPair); + EXPECT(!rv2.isPtr1); + EXPECT(assert_equal("Matrix", rv2.type1)); + EXPECT_LONGS_EQUAL(ReturnValue::EIGEN, rv2.category1); + + // Method 3 + Method m3 = cls.methods.at("returnPoint2"); + EXPECT(assert_equal("returnPoint2", m3.name)); + EXPECT(m3.is_const_); + LONGS_EQUAL(1, m3.argLists.size()); + LONGS_EQUAL(1, m3.returnVals.size()); + + ReturnValue rv3 = m3.returnVals.front(); + EXPECT(!rv3.isPair); + EXPECT(!rv3.isPtr1); + EXPECT(assert_equal("Point2", rv3.type1)); + EXPECT_LONGS_EQUAL(ReturnValue::CLASS, rv3.category1); + + // Static Method 1 + // static Vector returnVector(); + StaticMethod sm1 = cls.static_methods.at("returnVector"); + EXPECT(assert_equal("returnVector", sm1.name)); + LONGS_EQUAL(1, sm1.argLists.size()); + LONGS_EQUAL(1, sm1.returnVals.size()); + + ReturnValue rv4 = sm1.returnVals.front(); + EXPECT(!rv4.isPair); + EXPECT(!rv4.isPtr1); + EXPECT(assert_equal("Vector", rv4.type1)); + EXPECT_LONGS_EQUAL(ReturnValue::EIGEN, rv4.category1); + +} + /* ************************************************************************* */ TEST( wrap, parse_geometry ) { string markup_header_path = topdir + "/wrap/tests"; @@ -87,12 +164,59 @@ TEST( wrap, parse_geometry ) { LONGS_EQUAL(3, module.classes.size()); - // check first class, Point2 + // Key for ReturnValue::return_category +// CLASS = 1, +// EIGEN = 2, +// BASIS = 3, +// VOID = 4, + { + // check first class + // class Point2 { + // Point2(); + // Point2(double x, double y); + // double x() const; + // double y() const; + // int dim() const; + // char returnChar() const; + // void argChar(char a) const; + // void argUChar(unsigned char a) const; + // VectorNotEigen vectorConfusion(); + // }; + Class cls = module.classes.at(0); EXPECT(assert_equal("Point2", cls.name)); EXPECT_LONGS_EQUAL(2, cls.constructor.args_list.size()); EXPECT_LONGS_EQUAL(7, cls.methods.size()); + + { + // char returnChar() const; + CHECK(cls.methods.find("returnChar") != cls.methods.end()); + Method m1 = cls.methods.find("returnChar")->second; + LONGS_EQUAL(1, m1.returnVals.size()); + EXPECT(assert_equal("char", m1.returnVals.front().type1)); + EXPECT_LONGS_EQUAL(ReturnValue::BASIS, m1.returnVals.front().category1); + EXPECT(!m1.returnVals.front().isPair); + EXPECT(assert_equal("returnChar", m1.name)); + LONGS_EQUAL(1, m1.argLists.size()); + EXPECT_LONGS_EQUAL(0, m1.argLists.front().size()); + EXPECT(m1.is_const_); + } + + { + // VectorNotEigen vectorConfusion(); + CHECK(cls.methods.find("vectorConfusion") != cls.methods.end()); + Method m1 = cls.methods.find("vectorConfusion")->second; + LONGS_EQUAL(1, m1.returnVals.size()); + EXPECT(assert_equal("VectorNotEigen", m1.returnVals.front().type1)); + EXPECT_LONGS_EQUAL(ReturnValue::CLASS, m1.returnVals.front().category1); + EXPECT(!m1.returnVals.front().isPair); + EXPECT(assert_equal("vectorConfusion", m1.name)); + LONGS_EQUAL(1, m1.argLists.size()); + EXPECT_LONGS_EQUAL(0, m1.argLists.front().size()); + EXPECT(!m1.is_const_); + } + EXPECT_LONGS_EQUAL(0, cls.static_methods.size()); EXPECT_LONGS_EQUAL(0, cls.namespaces.size()); } @@ -122,6 +246,7 @@ TEST( wrap, parse_geometry ) { Method m1 = cls.methods.find("norm")->second; LONGS_EQUAL(1, m1.returnVals.size()); EXPECT(assert_equal("double", m1.returnVals.front().type1)); + EXPECT_LONGS_EQUAL(ReturnValue::BASIS, m1.returnVals.front().category1); EXPECT(assert_equal("norm", m1.name)); LONGS_EQUAL(1, m1.argLists.size()); EXPECT_LONGS_EQUAL(0, m1.argLists.front().size()); @@ -141,8 +266,34 @@ TEST( wrap, parse_geometry ) { Method m2 = testCls.methods.find("return_pair")->second; LONGS_EQUAL(1, m2.returnVals.size()); EXPECT(m2.returnVals.front().isPair); - EXPECT(m2.returnVals.front().category1 == ReturnValue::EIGEN); - EXPECT(m2.returnVals.front().category2 == ReturnValue::EIGEN); + EXPECT_LONGS_EQUAL(ReturnValue::EIGEN, m2.returnVals.front().category1); + EXPECT(assert_equal("Vector", m2.returnVals.front().type1)); + EXPECT_LONGS_EQUAL(ReturnValue::EIGEN, m2.returnVals.front().category2); + EXPECT(assert_equal("Matrix", m2.returnVals.front().type2)); + + // checking pointer args and return values +// pair return_ptrs (Test* p1, Test* p2) const; + CHECK(testCls.methods.find("return_ptrs") != testCls.methods.end()); + Method m3 = testCls.methods.find("return_ptrs")->second; + LONGS_EQUAL(1, m3.argLists.size()); + ArgumentList args = m3.argLists.front(); + LONGS_EQUAL(2, args.size()); + + Argument arg1 = args.at(0); + EXPECT(arg1.is_ptr); + EXPECT(!arg1.is_const); + EXPECT(!arg1.is_ref); + EXPECT(assert_equal("Test", arg1.type)); + EXPECT(assert_equal("p1", arg1.name)); + EXPECT(arg1.namespaces.empty()); + + Argument arg2 = args.at(1); + EXPECT(arg2.is_ptr); + EXPECT(!arg2.is_const); + EXPECT(!arg2.is_ref); + EXPECT(assert_equal("Test", arg2.type)); + EXPECT(assert_equal("p2", arg2.name)); + EXPECT(arg2.namespaces.empty()); } // evaluate global functions diff --git a/wrap/utilities.cpp b/wrap/utilities.cpp index b36f2f70b..1acc50db1 100644 --- a/wrap/utilities.cpp +++ b/wrap/utilities.cpp @@ -136,7 +136,8 @@ void createNamespaceStructure(const std::vector& namespaces, const using namespace boost::filesystem; path curPath = toolboxPath; BOOST_FOREACH(const string& subdir, namespaces) { - curPath /= "+" + subdir; +// curPath /= "+" + subdir; // original - resulted in valgrind error + curPath = curPath / string(string("+") + subdir); if(!is_directory(curPath)) { if(exists("+" + subdir)) throw OutputError("Need to write files to directory " + curPath.string() + ", which already exists as a file but is not a directory");