Merged in kartikmohta/gtsam/kartikmohta/use-system-eigen-if-version-325-since-t-1455053953897 (pull request #221)
Use system Eigen if version >= 3.2.5 since that includes our patchesrelease/4.3a0
						commit
						c11592e08f
					
				|  | @ -224,8 +224,9 @@ if(GTSAM_USE_SYSTEM_EIGEN) | |||
|     set(GTSAM_EIGEN_INCLUDE_PREFIX "${EIGEN3_INCLUDE_DIR}") | ||||
| 	 | ||||
| 	# check if MKL is also enabled - can have one or the other, but not both! | ||||
| 	if(EIGEN_USE_MKL_ALL) | ||||
| 	  message(FATAL_ERROR "MKL cannot be used together with system-installed Eigen, as MKL support relies on patches which are not yet in the system-installed Eigen. Disable either GTSAM_USE_SYSTEM_EIGEN or GTSAM_WITH_EIGEN_MKL") | ||||
| 	# Note: Eigen >= v3.2.5 includes our patches | ||||
| 	if(EIGEN_USE_MKL_ALL AND (EIGEN3_VERSION VERSION_LESS 3.2.5)) | ||||
| 	  message(FATAL_ERROR "MKL requires at least Eigen 3.2.5, and your system appears to have an older version. Disable GTSAM_USE_SYSTEM_EIGEN to use GTSAM's copy of Eigen, or disable GTSAM_WITH_EIGEN_MKL") | ||||
| 	endif() | ||||
| else() | ||||
| 	# Use bundled Eigen include path.  | ||||
|  |  | |||
|  | @ -704,11 +704,9 @@ void inplace_QR(Matrix& A){ | |||
|   HCoeffsType hCoeffs(size); | ||||
|   RowVectorType temp(cols); | ||||
| 
 | ||||
| #ifdef GTSAM_USE_SYSTEM_EIGEN | ||||
|   // System-Eigen is used, and MKL is off
 | ||||
| #if !EIGEN_VERSION_AT_LEAST(3,2,5) | ||||
|   Eigen::internal::householder_qr_inplace_blocked<Matrix, HCoeffsType>(A, hCoeffs, 48, temp.data()); | ||||
| #else | ||||
|   // Patched Eigen is used, and MKL is either on or off
 | ||||
|   Eigen::internal::householder_qr_inplace_blocked<Matrix, HCoeffsType>::run(A, hCoeffs, 48, temp.data()); | ||||
| #endif | ||||
| 
 | ||||
|  |  | |||
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