merge with default branch

author: Gael Guennebaud <g.gael@free.fr> 2014-07-02 09:35:37 +0200
committer: Gael Guennebaud <g.gael@free.fr> 2014-07-02 09:35:37 +0200
commit: 61b88d2feb8f23d1ba122f2c9a73abb183ebb25d (patch)
tree: da8fbb7e88c6668bbf4b63e2c988697d95f9f2de /Eigen
parent: 8f4cdbbc8f9b2214b906412701722a150cba3460 (diff)
parent: bf334b8ae51725754f525c2ffcfbd83ffc55ff2e (diff)
61 files changed, 177 insertions, 5631 deletions
diff --git a/Eigen/Array b/Eigen/Array
deleted file mode 100644
index 3d004fb69..000000000
--- a/Eigen/Array
+++ /dev/null
@@ -1,11 +0,0 @@
-#ifndef EIGEN_ARRAY_MODULE_H
-#define EIGEN_ARRAY_MODULE_H
-
-// include Core first to handle Eigen2 support macros
-#include "Core"
-
-#ifndef EIGEN2_SUPPORT
-  #error The Eigen/Array header does no longer exist in Eigen3. All that functionality has moved to Eigen/Core.
-#endif
-
-#endif // EIGEN_ARRAY_MODULE_H
diff --git a/Eigen/Core b/Eigen/Core
index 82dc30c62..42170cae1 100644
--- a/Eigen/Core
+++ b/Eigen/Core
@@ -251,34 +251,9 @@ inline static const char *SimdInstructionSetsInUse(void) {
 
 } // end namespace Eigen
 
-#define STAGE10_FULL_EIGEN2_API             10
-#define STAGE20_RESOLVE_API_CONFLICTS       20
-#define STAGE30_FULL_EIGEN3_API             30
-#define STAGE40_FULL_EIGEN3_STRICTNESS      40
-#define STAGE99_NO_EIGEN2_SUPPORT           99
-
-#if   defined EIGEN2_SUPPORT_STAGE40_FULL_EIGEN3_STRICTNESS
-  #define EIGEN2_SUPPORT
-  #define EIGEN2_SUPPORT_STAGE STAGE40_FULL_EIGEN3_STRICTNESS
-#elif defined EIGEN2_SUPPORT_STAGE30_FULL_EIGEN3_API
-  #define EIGEN2_SUPPORT
-  #define EIGEN2_SUPPORT_STAGE STAGE30_FULL_EIGEN3_API
-#elif defined EIGEN2_SUPPORT_STAGE20_RESOLVE_API_CONFLICTS
-  #define EIGEN2_SUPPORT
-  #define EIGEN2_SUPPORT_STAGE STAGE20_RESOLVE_API_CONFLICTS
-#elif defined EIGEN2_SUPPORT_STAGE10_FULL_EIGEN2_API
-  #define EIGEN2_SUPPORT
-  #define EIGEN2_SUPPORT_STAGE STAGE10_FULL_EIGEN2_API
-#elif defined EIGEN2_SUPPORT
-  // default to stage 3, that's what it's always meant
-  #define EIGEN2_SUPPORT_STAGE30_FULL_EIGEN3_API
-  #define EIGEN2_SUPPORT_STAGE STAGE30_FULL_EIGEN3_API
-#else
-  #define EIGEN2_SUPPORT_STAGE STAGE99_NO_EIGEN2_SUPPORT
-#endif
-
-#ifdef EIGEN2_SUPPORT
-#undef minor
+#if defined EIGEN2_SUPPORT_STAGE40_FULL_EIGEN3_STRICTNESS || defined EIGEN2_SUPPORT_STAGE30_FULL_EIGEN3_API || defined EIGEN2_SUPPORT_STAGE20_RESOLVE_API_CONFLICTS || defined EIGEN2_SUPPORT_STAGE10_FULL_EIGEN2_API || defined EIGEN2_SUPPORT
+// This will generate an error message:
+#error Eigen2-support is only available up to version 3.2. Please go to "http://eigen.tuxfamily.org/index.php?title=Eigen2" for further information
 #endif
 
 // we use size_t frequently and we'll never remember to prepend it with std:: everytime just to
@@ -444,8 +419,4 @@ using std::ptrdiff_t;
 
 #include "src/Core/util/ReenableStupidWarnings.h"
 
-#ifdef EIGEN2_SUPPORT
-#include "Eigen2Support"
-#endif
-
 #endif // EIGEN_CORE_H
diff --git a/Eigen/Eigen2Support b/Eigen/Eigen2Support
deleted file mode 100644
index 36156d29a..000000000
--- a/Eigen/Eigen2Support
+++ /dev/null
@@ -1,82 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. 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
-
-#if (!defined(EIGEN2_SUPPORT)) || (!defined(EIGEN_CORE_H))
-#error Eigen2 support must be enabled by defining EIGEN2_SUPPORT before including any Eigen header
-#endif
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-/** \ingroup Support_modules
-  * \defgroup Eigen2Support_Module Eigen2 support module
-  * This module provides a couple of deprecated functions improving the compatibility with Eigen2.
-  *
-  * To use it, define EIGEN2_SUPPORT before including any Eigen header
-  * \code
-  * #define EIGEN2_SUPPORT
-  * \endcode
-  *
-  */
-
-#include "src/Eigen2Support/Macros.h"
-#include "src/Eigen2Support/Memory.h"
-#include "src/Eigen2Support/Meta.h"
-#include "src/Eigen2Support/Lazy.h"
-#include "src/Eigen2Support/Cwise.h"
-#include "src/Eigen2Support/CwiseOperators.h"
-#include "src/Eigen2Support/TriangularSolver.h"
-#include "src/Eigen2Support/Block.h"
-#include "src/Eigen2Support/VectorBlock.h"
-#include "src/Eigen2Support/Minor.h"
-#include "src/Eigen2Support/MathFunctions.h"
-
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-// Eigen2 used to include iostream
-#include<iostream>
-
-#define EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, SizeSuffix) \
-using Eigen::Matrix##SizeSuffix##TypeSuffix; \
-using Eigen::Vector##SizeSuffix##TypeSuffix; \
-using Eigen::RowVector##SizeSuffix##TypeSuffix;
-
-#define EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE(TypeSuffix) \
-EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 2) \
-EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 3) \
-EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 4) \
-EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, X) \
-
-#define EIGEN_USING_MATRIX_TYPEDEFS \
-EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE(i) \
-EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE(f) \
-EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE(d) \
-EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE(cf) \
-EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE(cd)
-
-#define USING_PART_OF_NAMESPACE_EIGEN \
-EIGEN_USING_MATRIX_TYPEDEFS \
-using Eigen::Matrix; \
-using Eigen::MatrixBase; \
-using Eigen::ei_random; \
-using Eigen::ei_real; \
-using Eigen::ei_imag; \
-using Eigen::ei_conj; \
-using Eigen::ei_abs; \
-using Eigen::ei_abs2; \
-using Eigen::ei_sqrt; \
-using Eigen::ei_exp; \
-using Eigen::ei_log; \
-using Eigen::ei_sin; \
-using Eigen::ei_cos;
-
-#endif // EIGEN2SUPPORT_H
diff --git a/Eigen/Geometry b/Eigen/Geometry
index f9bc6fc57..1c642b7ee 100644
--- a/Eigen/Geometry
+++ b/Eigen/Geometry
@@ -33,29 +33,23 @@
 #include "src/Geometry/OrthoMethods.h"
 #include "src/Geometry/EulerAngles.h"
 
-#if EIGEN2_SUPPORT_STAGE > STAGE20_RESOLVE_API_CONFLICTS
-  #include "src/Geometry/Homogeneous.h"
-  #include "src/Geometry/RotationBase.h"
-  #include "src/Geometry/Rotation2D.h"
-  #include "src/Geometry/Quaternion.h"
-  #include "src/Geometry/AngleAxis.h"
-  #include "src/Geometry/Transform.h"
-  #include "src/Geometry/Translation.h"
-  #include "src/Geometry/Scaling.h"
-  #include "src/Geometry/Hyperplane.h"
-  #include "src/Geometry/ParametrizedLine.h"
-  #include "src/Geometry/AlignedBox.h"
-  #include "src/Geometry/Umeyama.h"
-
-  // Use the SSE optimized version whenever possible. At the moment the
-  // SSE version doesn't compile when AVX is enabled
-  #if defined EIGEN_VECTORIZE_SSE && !defined EIGEN_VECTORIZE_AVX
-    #include "src/Geometry/arch/Geometry_SSE.h"
-  #endif
-#endif
-
-#ifdef EIGEN2_SUPPORT
-#include "src/Eigen2Support/Geometry/All.h"
+#include "src/Geometry/Homogeneous.h"
+#include "src/Geometry/RotationBase.h"
+#include "src/Geometry/Rotation2D.h"
+#include "src/Geometry/Quaternion.h"
+#include "src/Geometry/AngleAxis.h"
+#include "src/Geometry/Transform.h"
+#include "src/Geometry/Translation.h"
+#include "src/Geometry/Scaling.h"
+#include "src/Geometry/Hyperplane.h"
+#include "src/Geometry/ParametrizedLine.h"
+#include "src/Geometry/AlignedBox.h"
+#include "src/Geometry/Umeyama.h"
+
+// Use the SSE optimized version whenever possible. At the moment the
+// SSE version doesn't compile when AVX is enabled
+#if defined EIGEN_VECTORIZE_SSE && !defined EIGEN_VECTORIZE_AVX
+#include "src/Geometry/arch/Geometry_SSE.h"
 #endif
 
 #include "src/Core/util/ReenableStupidWarnings.h"
diff --git a/Eigen/LU b/Eigen/LU
index 498faee10..38e9067c7 100644
--- a/Eigen/LU
+++ b/Eigen/LU
@@ -33,10 +33,6 @@
   #include "src/LU/arch/Inverse_SSE.h"
 #endif
 
-#ifdef EIGEN2_SUPPORT
-  #include "src/Eigen2Support/LU.h"
-#endif
-
 #include "src/Core/util/ReenableStupidWarnings.h"
 
 #endif // EIGEN_LU_MODULE_H
diff --git a/Eigen/LeastSquares b/Eigen/LeastSquares
deleted file mode 100644
index 35137c25d..000000000
--- a/Eigen/LeastSquares
+++ /dev/null
@@ -1,32 +0,0 @@
-#ifndef EIGEN_REGRESSION_MODULE_H
-#define EIGEN_REGRESSION_MODULE_H
-
-#ifndef EIGEN2_SUPPORT
-#error LeastSquares is only available in Eigen2 support mode (define EIGEN2_SUPPORT)
-#endif
-
-// exclude from normal eigen3-only documentation
-#ifdef EIGEN2_SUPPORT
-
-#include "Core"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-#include "Eigenvalues"
-#include "Geometry"
-
-/** \defgroup LeastSquares_Module LeastSquares module
-  * This module provides linear regression and related features.
-  *
-  * \code
-  * #include <Eigen/LeastSquares>
-  * \endcode
-  */
-
-#include "src/Eigen2Support/LeastSquares.h"
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN2_SUPPORT
-
-#endif // EIGEN_REGRESSION_MODULE_H
diff --git a/Eigen/QR b/Eigen/QR
index 8c7c6162e..4c2533610 100644
--- a/Eigen/QR
+++ b/Eigen/QR
@@ -33,15 +33,7 @@
 #include "src/QR/ColPivHouseholderQR_MKL.h"
 #endif
 
-#ifdef EIGEN2_SUPPORT
-#include "src/Eigen2Support/QR.h"
-#endif
-
 #include "src/Core/util/ReenableStupidWarnings.h"
 
-#ifdef EIGEN2_SUPPORT
-#include "Eigenvalues"
-#endif
-
 #endif // EIGEN_QR_MODULE_H
 /* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/Eigen/SVD b/Eigen/SVD
index fd310017a..5eee46df5 100644
--- a/Eigen/SVD
+++ b/Eigen/SVD
@@ -27,10 +27,6 @@
 #endif
 #include "src/SVD/UpperBidiagonalization.h"
 
-#ifdef EIGEN2_SUPPORT
-#include "src/Eigen2Support/SVD.h"
-#endif
-
 #include "src/Core/util/ReenableStupidWarnings.h"
 
 #endif // EIGEN_SVD_MODULE_H
diff --git a/Eigen/src/Cholesky/LDLT.h b/Eigen/src/Cholesky/LDLT.h
index 11dd5624c..8e748c627 100644
--- a/Eigen/src/Cholesky/LDLT.h
+++ b/Eigen/src/Cholesky/LDLT.h
@@ -151,13 +151,6 @@ template<typename _MatrixType, int _UpLo> class LDLT
       eigen_assert(m_isInitialized && "LDLT is not initialized.");
       return m_sign == internal::PositiveSemiDef || m_sign == internal::ZeroSign;
     }
-    
-    #ifdef EIGEN2_SUPPORT
-    inline bool isPositiveDefinite() const
-    {
-      return isPositive();
-    }
-    #endif
 
     /** \returns true if the matrix is negative (semidefinite) */
     inline bool isNegative(void) const
@@ -203,15 +196,6 @@ template<typename _MatrixType, int _UpLo> class LDLT
     }
 #endif
 
-    #ifdef EIGEN2_SUPPORT
-    template<typename OtherDerived, typename ResultType>
-    bool solve(const MatrixBase<OtherDerived>& b, ResultType *result) const
-    {
-      *result = this->solve(b);
-      return true;
-    }
-    #endif
-
     template<typename Derived>
     bool solveInPlace(MatrixBase<Derived> &bAndX) const;
 
diff --git a/Eigen/src/Cholesky/LLT.h b/Eigen/src/Cholesky/LLT.h
index 083b820f5..89fb9a011 100644
--- a/Eigen/src/Cholesky/LLT.h
+++ b/Eigen/src/Cholesky/LLT.h
@@ -139,17 +139,6 @@ template<typename _MatrixType, int _UpLo> class LLT
     }
 #endif
 
-    #ifdef EIGEN2_SUPPORT
-    template<typename OtherDerived, typename ResultType>
-    bool solve(const MatrixBase<OtherDerived>& b, ResultType *result) const
-    {
-      *result = this->solve(b);
-      return true;
-    }
-    
-    bool isPositiveDefinite() const { return true; }
-    #endif
-
     template<typename Derived>
     void solveInPlace(MatrixBase<Derived> &bAndX) const;
 
diff --git a/Eigen/src/Core/Array.h b/Eigen/src/Core/Array.h
index 8d2906a10..28d6f1443 100644
--- a/Eigen/src/Core/Array.h
+++ b/Eigen/src/Core/Array.h
@@ -144,24 +144,16 @@ class Array
     }
 #endif
 
-    /** Constructs a vector or row-vector with given dimension. \only_for_vectors
-      *
-      * Note that this is only useful for dynamic-size vectors. For fixed-size vectors,
-      * it is redundant to pass the dimension here, so it makes more sense to use the default
-      * constructor Matrix() instead.
-      */
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename T>
     EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE explicit Array(Index dim)
-      : Base(dim, RowsAtCompileTime == 1 ? 1 : dim, ColsAtCompileTime == 1 ? 1 : dim)
+    EIGEN_STRONG_INLINE explicit Array(const T& x)
     {
       Base::_check_template_params();
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(Array)
-      eigen_assert(dim >= 0);
-      eigen_assert(SizeAtCompileTime == Dynamic || SizeAtCompileTime == dim);
-      EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
+      Base::template _init1<T>(x);
     }
 
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
     template<typename T0, typename T1>
     EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Array(const T0& val0, const T1& val1)
@@ -170,11 +162,23 @@ class Array
       this->template _init2<T0,T1>(val0, val1);
     }
     #else
-    /** constructs an uninitialized matrix with \a rows rows and \a cols columns.
+    /** \brief Constructs a fixed-sized array initialized with coefficients starting at \a data */
+    EIGEN_DEVICE_FUNC explicit Array(const Scalar *data);
+    /** Constructs a vector or row-vector with given dimension. \only_for_vectors
       *
-      * This is useful for dynamic-size matrices. For fixed-size matrices,
+      * Note that this is only useful for dynamic-size vectors. For fixed-size vectors,
+      * it is redundant to pass the dimension here, so it makes more sense to use the default
+      * constructor Array() instead.
+      */
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE explicit Array(Index dim);
+    /** constructs an initialized 1x1 Array with the given coefficient */
+    Array(const Scalar& value);
+    /** constructs an uninitialized array with \a rows rows and \a cols columns.
+      *
+      * This is useful for dynamic-size arrays. For fixed-size arrays,
       * it is redundant to pass these parameters, so one should use the default constructor
-      * Matrix() instead. */
+      * Array() instead. */
     Array(Index rows, Index cols);
     /** constructs an initialized 2D vector with given coefficients */
     Array(const Scalar& val0, const Scalar& val1);
@@ -202,8 +206,6 @@ class Array
       m_storage.data()[3] = val3;
     }
 
-    EIGEN_DEVICE_FUNC explicit Array(const Scalar *data);
-
     /** Constructor copying the value of the expression \a other */
     template<typename OtherDerived>
     EIGEN_DEVICE_FUNC
diff --git a/Eigen/src/Core/DenseBase.h b/Eigen/src/Core/DenseBase.h
index 624276240..14643b5a8 100644
--- a/Eigen/src/Core/DenseBase.h
+++ b/Eigen/src/Core/DenseBase.h
@@ -542,17 +542,6 @@ template<typename Derived> class DenseBase
 #   endif
 #undef EIGEN_CURRENT_STORAGE_BASE_CLASS
 
-#ifdef EIGEN2_SUPPORT
-
-    Block<Derived> corner(CornerType type, Index cRows, Index cCols);
-    const Block<Derived> corner(CornerType type, Index cRows, Index cCols) const;
-    template<int CRows, int CCols>
-    Block<Derived, CRows, CCols> corner(CornerType type);
-    template<int CRows, int CCols>
-    const Block<Derived, CRows, CCols> corner(CornerType type) const;
-
-#endif // EIGEN2_SUPPORT
-
 
     // disable the use of evalTo for dense objects with a nice compilation error
     template<typename Dest>
diff --git a/Eigen/src/Core/DenseCoeffsBase.h b/Eigen/src/Core/DenseCoeffsBase.h
index 6f35a67ca..de31b8df2 100644
--- a/Eigen/src/Core/DenseCoeffsBase.h
+++ b/Eigen/src/Core/DenseCoeffsBase.h
@@ -164,10 +164,8 @@ class DenseCoeffsBase<Derived,ReadOnlyAccessors> : public EigenBase<Derived>
     EIGEN_STRONG_INLINE CoeffReturnType
     operator[](Index index) const
     {
-      #ifndef EIGEN2_SUPPORT
       EIGEN_STATIC_ASSERT(Derived::IsVectorAtCompileTime,
                           THE_BRACKET_OPERATOR_IS_ONLY_FOR_VECTORS__USE_THE_PARENTHESIS_OPERATOR_INSTEAD)
-      #endif
       eigen_assert(index >= 0 && index < size());
       return coeff(index);
     }
@@ -411,10 +409,8 @@ class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived,
     EIGEN_STRONG_INLINE Scalar&
     operator[](Index index)
     {
-      #ifndef EIGEN2_SUPPORT
       EIGEN_STATIC_ASSERT(Derived::IsVectorAtCompileTime,
                           THE_BRACKET_OPERATOR_IS_ONLY_FOR_VECTORS__USE_THE_PARENTHESIS_OPERATOR_INSTEAD)
-      #endif
       eigen_assert(index >= 0 && index < size());
       return coeffRef(index);
     }
diff --git a/Eigen/src/Core/DiagonalMatrix.h b/Eigen/src/Core/DiagonalMatrix.h
index e26d24eb2..5f7e5fe33 100644
--- a/Eigen/src/Core/DiagonalMatrix.h
+++ b/Eigen/src/Core/DiagonalMatrix.h
@@ -108,21 +108,6 @@ class DiagonalBase : public EigenBase<Derived>
     {
       return other.diagonal() * scalar;
     }
-    
-    #ifdef EIGEN2_SUPPORT
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    bool isApprox(const DiagonalBase<OtherDerived>& other, typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision()) const
-    {
-      return diagonal().isApprox(other.diagonal(), precision);
-    }
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    bool isApprox(const MatrixBase<OtherDerived>& other, typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision()) const
-    {
-      return toDenseMatrix().isApprox(other, precision);
-    }
-    #endif
 };
 
 #ifndef EIGEN_TEST_EVALUATORS
diff --git a/Eigen/src/Core/Dot.h b/Eigen/src/Core/Dot.h
index 38f6fbf44..d18b0099a 100644
--- a/Eigen/src/Core/Dot.h
+++ b/Eigen/src/Core/Dot.h
@@ -76,34 +76,6 @@ MatrixBase<Derived>::dot(const MatrixBase<OtherDerived>& other) const
   return internal::dot_nocheck<Derived,OtherDerived>::run(*this, other);
 }
 
-#ifdef EIGEN2_SUPPORT
-/** \returns the dot product of *this with other, with the Eigen2 convention that the dot product is linear in the first variable
-  * (conjugating the second variable). Of course this only makes a difference in the complex case.
-  *
-  * This method is only available in EIGEN2_SUPPORT mode.
-  *
-  * \only_for_vectors
-  *
-  * \sa dot()
-  */
-template<typename Derived>
-template<typename OtherDerived>
-typename internal::traits<Derived>::Scalar
-MatrixBase<Derived>::eigen2_dot(const MatrixBase<OtherDerived>& other) const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
-  EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Derived,OtherDerived)
-  EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename OtherDerived::Scalar>::value),
-    YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-
-  eigen_assert(size() == other.size());
-
-  return internal::dot_nocheck<OtherDerived,Derived>::run(other,*this);
-}
-#endif
-
-
 //---------- implementation of L2 norm and related functions ----------
 
 /** \returns, for vectors, the squared \em l2 norm of \c *this, and for matrices the Frobenius norm.
diff --git a/Eigen/src/Core/Map.h b/Eigen/src/Core/Map.h
index 6b2d61909..7dfdc3d59 100644
--- a/Eigen/src/Core/Map.h
+++ b/Eigen/src/Core/Map.h
@@ -115,14 +115,9 @@ template<typename PlainObjectType, int MapOptions, typename StrideType> class Ma
     EIGEN_DENSE_PUBLIC_INTERFACE(Map)
 
     typedef typename Base::PointerType PointerType;
-#if EIGEN2_SUPPORT_STAGE <= STAGE30_FULL_EIGEN3_API
-    typedef const Scalar* PointerArgType;
-    inline PointerType cast_to_pointer_type(PointerArgType ptr) { return const_cast<PointerType>(ptr); }
-#else
     typedef PointerType PointerArgType;
     EIGEN_DEVICE_FUNC
     inline PointerType cast_to_pointer_type(PointerArgType ptr) { return ptr; }
-#endif
 
     EIGEN_DEVICE_FUNC
     inline Index innerStride() const
@@ -184,19 +179,6 @@ template<typename PlainObjectType, int MapOptions, typename StrideType> class Ma
     StrideType m_stride;
 };
 
-template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-inline Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>
-  ::Array(const Scalar *data)
-{
-  this->_set_noalias(Eigen::Map<const Array>(data));
-}
-
-template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-inline Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>
-  ::Matrix(const Scalar *data)
-{
-  this->_set_noalias(Eigen::Map<const Matrix>(data));
-}
 
 } // end namespace Eigen
 
diff --git a/Eigen/src/Core/Matrix.h b/Eigen/src/Core/Matrix.h
index cd4913525..eb70c1129 100644
--- a/Eigen/src/Core/Matrix.h
+++ b/Eigen/src/Core/Matrix.h
@@ -237,24 +237,17 @@ class Matrix
     }
 #endif
 
-    /** \brief Constructs a vector or row-vector with given dimension. \only_for_vectors
-      *
-      * Note that this is only useful for dynamic-size vectors. For fixed-size vectors,
-      * it is redundant to pass the dimension here, so it makes more sense to use the default
-      * constructor Matrix() instead.
-      */
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+
+    // This constructor is for both 1x1 matrices and dynamic vectors
+    template<typename T>
     EIGEN_DEVICE_FUNC
-    EIGEN_STRONG_INLINE explicit Matrix(Index dim)
-      : Base(dim, RowsAtCompileTime == 1 ? 1 : dim, ColsAtCompileTime == 1 ? 1 : dim)
+    EIGEN_STRONG_INLINE explicit Matrix(const T& x)
     {
       Base::_check_template_params();
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(Matrix)
-      eigen_assert(dim >= 0);
-      eigen_assert(SizeAtCompileTime == Dynamic || SizeAtCompileTime == dim);
-      EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
+      Base::template _init1<T>(x);
     }
 
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
     template<typename T0, typename T1>
     EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Matrix(const T0& x, const T1& y)
@@ -263,6 +256,19 @@ class Matrix
       Base::template _init2<T0,T1>(x, y);
     }
     #else
+    /** \brief Constructs a fixed-sized matrix initialized with coefficients starting at \a data */
+    EIGEN_DEVICE_FUNC
+    explicit Matrix(const Scalar *data);
+
+    /** \brief Constructs a vector or row-vector with given dimension. \only_for_vectors
+      *
+      * Note that this is only useful for dynamic-size vectors. For fixed-size vectors,
+      * it is redundant to pass the dimension here, so it makes more sense to use the default
+      * constructor Matrix() instead.
+      */
+    EIGEN_STRONG_INLINE explicit Matrix(Index dim);
+    /** \brief Constructs an initialized 1x1 matrix with the given coefficient */
+    Matrix(const Scalar& x);
     /** \brief Constructs an uninitialized matrix with \a rows rows and \a cols columns.
       *
       * This is useful for dynamic-size matrices. For fixed-size matrices,
@@ -296,8 +302,6 @@ class Matrix
       m_storage.data()[3] = w;
     }
 
-    EIGEN_DEVICE_FUNC
-    explicit Matrix(const Scalar *data);
 
     /** \brief Constructor copying the value of the expression \a other */
     template<typename OtherDerived>
@@ -367,13 +371,6 @@ class Matrix
     EIGEN_DEVICE_FUNC
     Matrix& operator=(const RotationBase<OtherDerived,ColsAtCompileTime>& r);
 
-    #ifdef EIGEN2_SUPPORT
-    template<typename OtherDerived>
-    explicit Matrix(const eigen2_RotationBase<OtherDerived,ColsAtCompileTime>& r);
-    template<typename OtherDerived>
-    Matrix& operator=(const eigen2_RotationBase<OtherDerived,ColsAtCompileTime>& r);
-    #endif
-
     // allow to extend Matrix outside Eigen
     #ifdef EIGEN_MATRIX_PLUGIN
     #include EIGEN_MATRIX_PLUGIN
diff --git a/Eigen/src/Core/MatrixBase.h b/Eigen/src/Core/MatrixBase.h
index b95b3e6d8..c2011d462 100644
--- a/Eigen/src/Core/MatrixBase.h
+++ b/Eigen/src/Core/MatrixBase.h
@@ -234,11 +234,6 @@ template<typename Derived> class MatrixBase
     typename internal::scalar_product_traits<typename internal::traits<Derived>::Scalar,typename internal::traits<OtherDerived>::Scalar>::ReturnType
     dot(const MatrixBase<OtherDerived>& other) const;
 
-    #ifdef EIGEN2_SUPPORT
-      template<typename OtherDerived>
-      Scalar eigen2_dot(const MatrixBase<OtherDerived>& other) const;
-    #endif
-
     EIGEN_DEVICE_FUNC RealScalar squaredNorm() const;
     EIGEN_DEVICE_FUNC RealScalar norm() const;
     RealScalar stableNorm() const;
@@ -282,17 +277,6 @@ template<typename Derived> class MatrixBase
     typename ConstDiagonalIndexReturnType<DynamicIndex>::Type diagonal(Index index) const;
     #endif
 
-    #ifdef EIGEN2_SUPPORT
-    template<unsigned int Mode> typename internal::eigen2_part_return_type<Derived, Mode>::type part();
-    template<unsigned int Mode> const typename internal::eigen2_part_return_type<Derived, Mode>::type part() const;
-    
-    // huuuge hack. make Eigen2's matrix.part<Diagonal>() work in eigen3. Problem: Diagonal is now a class template instead
-    // of an integer constant. Solution: overload the part() method template wrt template parameters list.
-    template<template<typename T, int N> class U>
-    const DiagonalWrapper<ConstDiagonalReturnType> part() const
-    { return diagonal().asDiagonal(); }
-    #endif // EIGEN2_SUPPORT
-
     template<unsigned int Mode> struct TriangularViewReturnType { typedef TriangularView<Derived, Mode> Type; };
     template<unsigned int Mode> struct ConstTriangularViewReturnType { typedef const TriangularView<const Derived, Mode> Type; };
 
@@ -395,24 +379,7 @@ template<typename Derived> class MatrixBase
     EIGEN_DEVICE_FUNC const FullPivLU<PlainObject> fullPivLu() const;
     EIGEN_DEVICE_FUNC const PartialPivLU<PlainObject> partialPivLu() const;
 
-    #if EIGEN2_SUPPORT_STAGE < STAGE20_RESOLVE_API_CONFLICTS
-    const LU<PlainObject> lu() const;
-    #endif
-
-    #ifdef EIGEN2_SUPPORT
-    const LU<PlainObject> eigen2_lu() const;
-    #endif
-
-    #if EIGEN2_SUPPORT_STAGE > STAGE20_RESOLVE_API_CONFLICTS
     const PartialPivLU<PlainObject> lu() const;
-    #endif
-    
-    #ifdef EIGEN2_SUPPORT
-    template<typename ResultType>
-    void computeInverse(MatrixBase<ResultType> *result) const {
-      *result = this->inverse();
-    }
-    #endif
 
     #ifdef EIGEN_TEST_EVALUATORS
     EIGEN_DEVICE_FUNC
@@ -446,10 +413,6 @@ template<typename Derived> class MatrixBase
     const HouseholderQR<PlainObject> householderQr() const;
     const ColPivHouseholderQR<PlainObject> colPivHouseholderQr() const;
     const FullPivHouseholderQR<PlainObject> fullPivHouseholderQr() const;
-    
-    #ifdef EIGEN2_SUPPORT
-    const QR<PlainObject> qr() const;
-    #endif
 
     EigenvaluesReturnType eigenvalues() const;
     RealScalar operatorNorm() const;
@@ -458,10 +421,6 @@ template<typename Derived> class MatrixBase
 
     JacobiSVD<PlainObject> jacobiSvd(unsigned int computationOptions = 0) const;
 
-    #ifdef EIGEN2_SUPPORT
-    SVD<PlainObject> svd() const;
-    #endif
-
 /////////// Geometry module ///////////
 
     #ifndef EIGEN_PARSED_BY_DOXYGEN
@@ -485,13 +444,11 @@ template<typename Derived> class MatrixBase
     
     Matrix<Scalar,3,1> eulerAngles(Index a0, Index a1, Index a2) const;
     
-    #if EIGEN2_SUPPORT_STAGE > STAGE20_RESOLVE_API_CONFLICTS
     ScalarMultipleReturnType operator*(const UniformScaling<Scalar>& s) const;
     // put this as separate enum value to work around possible GCC 4.3 bug (?)
     enum { HomogeneousReturnTypeDirection = ColsAtCompileTime==1?Vertical:Horizontal };
     typedef Homogeneous<Derived, HomogeneousReturnTypeDirection> HomogeneousReturnType;
     HomogeneousReturnType homogeneous() const;
-    #endif
     
     enum {
       SizeMinusOne = SizeAtCompileTime==Dynamic ? Dynamic : SizeAtCompileTime-1
@@ -540,41 +497,6 @@ template<typename Derived> class MatrixBase
     const MatrixPowerReturnValue<Derived> pow(const RealScalar& p) const;
     const MatrixComplexPowerReturnValue<Derived> pow(const std::complex<RealScalar>& p) const;
 
-#ifdef EIGEN2_SUPPORT
-    template<typename ProductDerived, typename Lhs, typename Rhs>
-    Derived& operator+=(const Flagged<ProductBase<ProductDerived, Lhs,Rhs>, 0,
-                                      EvalBeforeAssigningBit>& other);
-
-    template<typename ProductDerived, typename Lhs, typename Rhs>
-    Derived& operator-=(const Flagged<ProductBase<ProductDerived, Lhs,Rhs>, 0,
-                                      EvalBeforeAssigningBit>& other);
-
-    /** \deprecated because .lazy() is deprecated
-      * Overloaded for cache friendly product evaluation */
-    template<typename OtherDerived>
-    Derived& lazyAssign(const Flagged<OtherDerived, 0, EvalBeforeAssigningBit>& other)
-    { return lazyAssign(other._expression()); }
-
-    template<unsigned int Added>
-    const Flagged<Derived, Added, 0> marked() const;
-    const Flagged<Derived, 0, EvalBeforeAssigningBit> lazy() const;
-
-    inline const Cwise<Derived> cwise() const;
-    inline Cwise<Derived> cwise();
-
-    VectorBlock<Derived> start(Index size);
-    const VectorBlock<const Derived> start(Index size) const;
-    VectorBlock<Derived> end(Index size);
-    const VectorBlock<const Derived> end(Index size) const;
-    template<int Size> VectorBlock<Derived,Size> start();
-    template<int Size> const VectorBlock<const Derived,Size> start() const;
-    template<int Size> VectorBlock<Derived,Size> end();
-    template<int Size> const VectorBlock<const Derived,Size> end() const;
-
-    Minor<Derived> minor(Index row, Index col);
-    const Minor<Derived> minor(Index row, Index col) const;
-#endif
-
   protected:
     EIGEN_DEVICE_FUNC MatrixBase() : Base() {}
 
diff --git a/Eigen/src/Core/NumTraits.h b/Eigen/src/Core/NumTraits.h
index 2b6633c9c..a04227f57 100644
--- a/Eigen/src/Core/NumTraits.h
+++ b/Eigen/src/Core/NumTraits.h
@@ -85,13 +85,6 @@ template<typename T> struct GenericNumTraits
   }
   static inline T highest() { return (std::numeric_limits<T>::max)(); }
   static inline T lowest()  { return IsInteger ? (std::numeric_limits<T>::min)() : (-(std::numeric_limits<T>::max)()); }
-  
-#ifdef EIGEN2_SUPPORT
-  enum {
-    HasFloatingPoint = !IsInteger
-  };
-  typedef NonInteger FloatingPoint;
-#endif
 };
 
 template<typename T> struct NumTraits : GenericNumTraits<T>
diff --git a/Eigen/src/Core/PlainObjectBase.h b/Eigen/src/Core/PlainObjectBase.h
index c31bfbc8c..a81bf3540 100644
--- a/Eigen/src/Core/PlainObjectBase.h
+++ b/Eigen/src/Core/PlainObjectBase.h
@@ -711,6 +711,55 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       m_storage.data()[1] = val1;
     }
 
+    template<typename T>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void _init1(Index size, typename internal::enable_if<Base::SizeAtCompileTime!=1,T>::type* = 0)
+    {
+      EIGEN_STATIC_ASSERT(bool(NumTraits<T>::IsInteger),
+                          FLOATING_POINT_ARGUMENT_PASSED__INTEGER_WAS_EXPECTED)
+      resize(size);
+    }
+    template<typename T>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void _init1(const Scalar& val0, typename internal::enable_if<Base::SizeAtCompileTime==1,T>::type* = 0)
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(PlainObjectBase, 1)
+      m_storage.data()[0] = val0;
+    }
+
+    template<typename T>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void _init1(const Scalar* data){
+      this->_set_noalias(ConstMapType(data));
+    }
+
+    template<typename T, typename OtherDerived>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void _init1(const DenseBase<OtherDerived>& other){
+      this->_set_noalias(other);
+    }
+
+    template<typename T, typename OtherDerived>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void _init1(const EigenBase<OtherDerived>& other){
+      this->derived() = other;
+    }
+
+    template<typename T, typename OtherDerived>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void _init1(const ReturnByValue<OtherDerived>& other)
+    {
+      resize(other.rows(), other.cols());
+      other.evalTo(this->derived());
+    }
+
+    template<typename T, typename OtherDerived, int ColsAtCompileTime>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void _init1(const RotationBase<OtherDerived,ColsAtCompileTime>& r)
+    {
+      this->derived() = r;
+    }
+
     template<typename MatrixTypeA, typename MatrixTypeB, bool SwapPointers>
     friend struct internal::matrix_swap_impl;
 
diff --git a/Eigen/src/Core/ProductBase.h b/Eigen/src/Core/ProductBase.h
index 4a54f5f81..4b1fe356b 100644
--- a/Eigen/src/Core/ProductBase.h
+++ b/Eigen/src/Core/ProductBase.h
@@ -134,17 +134,13 @@ class ProductBase : public MatrixBase<Derived>
     const Diagonal<FullyLazyCoeffBaseProductType,Dynamic> diagonal(Index index) const
     { return FullyLazyCoeffBaseProductType(m_lhs, m_rhs).diagonal(index); }
 
-    // restrict coeff accessors to 1x1 expressions. No need to care about mutators here since this isnt a Lvalue expression
+    // restrict coeff accessors to 1x1 expressions. No need to care about mutators here since this isn't an Lvalue expression
     typename Base::CoeffReturnType coeff(Index row, Index col) const
     {
-#ifdef EIGEN2_SUPPORT
-      return lhs().row(row).cwiseProduct(rhs().col(col).transpose()).sum();
-#else
       EIGEN_STATIC_ASSERT_SIZE_1x1(Derived)
       eigen_assert(this->rows() == 1 && this->cols() == 1);
       Matrix<Scalar,1,1> result = *this;
       return result.coeff(row,col);
-#endif
     }
 
     typename Base::CoeffReturnType coeff(Index i) const
diff --git a/Eigen/src/Core/SelfAdjointView.h b/Eigen/src/Core/SelfAdjointView.h
index b300c6a48..9319ad87c 100644
--- a/Eigen/src/Core/SelfAdjointView.h
+++ b/Eigen/src/Core/SelfAdjointView.h
@@ -214,31 +214,6 @@ template<typename _MatrixType, unsigned int UpLo> class SelfAdjointView
     EigenvaluesReturnType eigenvalues() const;
     EIGEN_DEVICE_FUNC
     RealScalar operatorNorm() const;
-    
-    #ifdef EIGEN2_SUPPORT
-    template<typename OtherDerived>
-    EIGEN_DEVICE_FUNC
-    SelfAdjointView& operator=(const MatrixBase<OtherDerived>& other)
-    {
-      enum {
-        OtherPart = UpLo == Upper ? StrictlyLower : StrictlyUpper
-      };
-      m_matrix.const_cast_derived().template triangularView<UpLo>() = other;
-      m_matrix.const_cast_derived().template triangularView<OtherPart>() = other.adjoint();
-      return *this;
-    }
-    template<typename OtherMatrixType, unsigned int OtherMode>
-    EIGEN_DEVICE_FUNC
-    SelfAdjointView& operator=(const TriangularView<OtherMatrixType, OtherMode>& other)
-    {
-      enum {
-        OtherPart = UpLo == Upper ? StrictlyLower : StrictlyUpper
-      };
-      m_matrix.const_cast_derived().template triangularView<UpLo>() = other.toDenseMatrix();
-      m_matrix.const_cast_derived().template triangularView<OtherPart>() = other.toDenseMatrix().adjoint();
-      return *this;
-    }
-    #endif
 
   protected:
     MatrixTypeNested m_matrix;
diff --git a/Eigen/src/Core/TriangularMatrix.h b/Eigen/src/Core/TriangularMatrix.h
index 180efdd62..d816f08ae 100644
--- a/Eigen/src/Core/TriangularMatrix.h
+++ b/Eigen/src/Core/TriangularMatrix.h
@@ -404,35 +404,6 @@ template<typename _MatrixType, unsigned int _Mode> class TriangularView
     }
 #endif
 
-    #ifdef EIGEN2_SUPPORT
-    template<typename OtherDerived>
-    struct eigen2_product_return_type
-    {
-      typedef typename TriangularView<MatrixType,Mode>::DenseMatrixType DenseMatrixType;
-      typedef typename OtherDerived::PlainObject::DenseType OtherPlainObject;
-      typedef typename ProductReturnType<DenseMatrixType, OtherPlainObject>::Type ProdRetType;
-      typedef typename ProdRetType::PlainObject type;
-    };
-    template<typename OtherDerived>
-    const typename eigen2_product_return_type<OtherDerived>::type
-    operator*(const EigenBase<OtherDerived>& rhs) const
-    {
-      typename OtherDerived::PlainObject::DenseType rhsPlainObject;
-      rhs.evalTo(rhsPlainObject);
-      return this->toDenseMatrix() * rhsPlainObject;
-    }
-    template<typename OtherMatrixType>
-    bool isApprox(const TriangularView<OtherMatrixType, Mode>& other, typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision()) const
-    {
-      return this->toDenseMatrix().isApprox(other.toDenseMatrix(), precision);
-    }
-    template<typename OtherDerived>
-    bool isApprox(const MatrixBase<OtherDerived>& other, typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision()) const
-    {
-      return this->toDenseMatrix().isApprox(other, precision);
-    }
-    #endif // EIGEN2_SUPPORT
-
     template<int Side, typename Other>
     EIGEN_DEVICE_FUNC
     inline const internal::triangular_solve_retval<Side,TriangularView, Other>
@@ -930,41 +901,6 @@ void TriangularBase<Derived>::evalToLazy(MatrixBase<DenseDerived> &other) const
 * Implementation of MatrixBase methods
 ***************************************************************************/
 
-#ifdef EIGEN2_SUPPORT
-
-// implementation of part<>(), including the SelfAdjoint case.
-
-namespace internal {
-template<typename MatrixType, unsigned int Mode>
-struct eigen2_part_return_type
-{
-  typedef TriangularView<MatrixType, Mode> type;
-};
-
-template<typename MatrixType>
-struct eigen2_part_return_type<MatrixType, SelfAdjoint>
-{
-  typedef SelfAdjointView<MatrixType, Upper> type;
-};
-}
-
-/** \deprecated use MatrixBase::triangularView() */
-template<typename Derived>
-template<unsigned int Mode>
-const typename internal::eigen2_part_return_type<Derived, Mode>::type MatrixBase<Derived>::part() const
-{
-  return derived();
-}
-
-/** \deprecated use MatrixBase::triangularView() */
-template<typename Derived>
-template<unsigned int Mode>
-typename internal::eigen2_part_return_type<Derived, Mode>::type MatrixBase<Derived>::part()
-{
-  return derived();
-}
-#endif
-
 /**
   * \returns an expression of a triangular view extracted from the current matrix
   *
diff --git a/Eigen/src/Core/VectorwiseOp.h b/Eigen/src/Core/VectorwiseOp.h
index 672b9662f..1a9eead43 100644
--- a/Eigen/src/Core/VectorwiseOp.h
+++ b/Eigen/src/Core/VectorwiseOp.h
@@ -566,9 +566,7 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
 
 /////////// Geometry module ///////////
 
-    #if EIGEN2_SUPPORT_STAGE > STAGE20_RESOLVE_API_CONFLICTS
     Homogeneous<ExpressionType,Direction> homogeneous() const;
-    #endif
 
     typedef typename ExpressionType::PlainObject CrossReturnType;
     template<typename OtherDerived>
diff --git a/Eigen/src/Core/util/ForwardDeclarations.h b/Eigen/src/Core/util/ForwardDeclarations.h
index ead5de650..274cfac00 100644
--- a/Eigen/src/Core/util/ForwardDeclarations.h
+++ b/Eigen/src/Core/util/ForwardDeclarations.h
@@ -267,35 +267,12 @@ template<typename Scalar> class Rotation2D;
 template<typename Scalar> class AngleAxis;
 template<typename Scalar,int Dim> class Translation;
 
-#ifdef EIGEN2_SUPPORT
-template<typename Derived, int _Dim> class eigen2_RotationBase;
-template<typename Lhs, typename Rhs> class eigen2_Cross;
-template<typename Scalar> class eigen2_Quaternion;
-template<typename Scalar> class eigen2_Rotation2D;
-template<typename Scalar> class eigen2_AngleAxis;
-template<typename Scalar,int Dim> class eigen2_Transform;
-template <typename _Scalar, int _AmbientDim> class eigen2_ParametrizedLine;
-template <typename _Scalar, int _AmbientDim> class eigen2_Hyperplane;
-template<typename Scalar,int Dim> class eigen2_Translation;
-template<typename Scalar,int Dim> class eigen2_Scaling;
-#endif
-
-#if EIGEN2_SUPPORT_STAGE < STAGE20_RESOLVE_API_CONFLICTS
-template<typename Scalar> class Quaternion;
-template<typename Scalar,int Dim> class Transform;
-template <typename _Scalar, int _AmbientDim> class ParametrizedLine;
-template <typename _Scalar, int _AmbientDim> class Hyperplane;
-template<typename Scalar,int Dim> class Scaling;
-#endif
-
-#if EIGEN2_SUPPORT_STAGE > STAGE20_RESOLVE_API_CONFLICTS
 template<typename Scalar, int Options = AutoAlign> class Quaternion;
 template<typename Scalar,int Dim,int Mode,int _Options=AutoAlign> class Transform;
 template <typename _Scalar, int _AmbientDim, int Options=AutoAlign> class ParametrizedLine;
 template <typename _Scalar, int _AmbientDim, int Options=AutoAlign> class Hyperplane;
 template<typename Scalar> class UniformScaling;
 template<typename MatrixType,int Direction> class Homogeneous;
-#endif
 
 // MatrixFunctions module
 template<typename Derived> struct MatrixExponentialReturnValue;
@@ -314,18 +291,6 @@ struct stem_function
 };
 }
 
-
-#ifdef EIGEN2_SUPPORT
-template<typename ExpressionType> class Cwise;
-template<typename MatrixType> class Minor;
-template<typename MatrixType> class LU;
-template<typename MatrixType> class QR;
-template<typename MatrixType> class SVD;
-namespace internal {
-template<typename MatrixType, unsigned int Mode> struct eigen2_part_return_type;
-}
-#endif
-
 } // end namespace Eigen
 
 #endif // EIGEN_FORWARDDECLARATIONS_H
diff --git a/Eigen/src/Core/util/Memory.h b/Eigen/src/Core/util/Memory.h
index 390b60c74..9718ef6a8 100644
--- a/Eigen/src/Core/util/Memory.h
+++ b/Eigen/src/Core/util/Memory.h
@@ -552,7 +552,7 @@ template<typename T> struct smart_memmove_helper<T,false> {
 // you can overwrite Eigen's default behavior regarding alloca by defining EIGEN_ALLOCA
 // to the appropriate stack allocation function
 #ifndef EIGEN_ALLOCA
-  #if (defined __linux__) || (defined __APPLE__)
+  #if (defined __linux__) || (defined __APPLE__) || (defined alloca)
     #define EIGEN_ALLOCA alloca
   #elif defined(_MSC_VER)
     #define EIGEN_ALLOCA _alloca
diff --git a/Eigen/src/Core/util/StaticAssert.h b/Eigen/src/Core/util/StaticAssert.h
index eff12486d..54a16ebf2 100644
--- a/Eigen/src/Core/util/StaticAssert.h
+++ b/Eigen/src/Core/util/StaticAssert.h
@@ -109,9 +109,9 @@
         {Eigen::internal::static_assertion<bool(CONDITION)>::MSG;}
 
     #else
-
+      // In some cases clang interprets bool(CONDITION) as function declaration
       #define EIGEN_STATIC_ASSERT(CONDITION,MSG) \
-        if (Eigen::internal::static_assertion<bool(CONDITION)>::MSG) {}
+        if (Eigen::internal::static_assertion<static_cast<bool>(CONDITION)>::MSG) {}
 
     #endif
 
@@ -170,13 +170,8 @@
        ) \
      )
 
-#ifdef EIGEN2_SUPPORT
-  #define EIGEN_STATIC_ASSERT_NON_INTEGER(TYPE) \
-    eigen_assert(!NumTraits<Scalar>::IsInteger);
-#else
-  #define EIGEN_STATIC_ASSERT_NON_INTEGER(TYPE) \
+#define EIGEN_STATIC_ASSERT_NON_INTEGER(TYPE) \
     EIGEN_STATIC_ASSERT(!NumTraits<TYPE>::IsInteger, THIS_FUNCTION_IS_NOT_FOR_INTEGER_NUMERIC_TYPES)
-#endif
 
 
 // static assertion failing if it is guaranteed at compile-time that the two matrix expression types have different sizes
diff --git a/Eigen/src/Eigen2Support/Block.h b/Eigen/src/Eigen2Support/Block.h
deleted file mode 100644
index 604456f40..000000000
--- a/Eigen/src/Eigen2Support/Block.h
+++ /dev/null
@@ -1,126 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_BLOCK2_H
-#define EIGEN_BLOCK2_H
-
-namespace Eigen { 
-
-/** \returns a dynamic-size expression of a corner of *this.
-  *
-  * \param type the type of corner. Can be \a Eigen::TopLeft, \a Eigen::TopRight,
-  * \a Eigen::BottomLeft, \a Eigen::BottomRight.
-  * \param cRows the number of rows in the corner
-  * \param cCols the number of columns in the corner
-  *
-  * Example: \include MatrixBase_corner_enum_int_int.cpp
-  * Output: \verbinclude MatrixBase_corner_enum_int_int.out
-  *
-  * \note Even though the returned expression has dynamic size, in the case
-  * when it is applied to a fixed-size matrix, it inherits a fixed maximal size,
-  * which means that evaluating it does not cause a dynamic memory allocation.
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
-template<typename Derived>
-inline Block<Derived> DenseBase<Derived>
-  ::corner(CornerType type, Index cRows, Index cCols)
-{
-  switch(type)
-  {
-    default:
-      eigen_assert(false && "Bad corner type.");
-    case TopLeft:
-      return Block<Derived>(derived(), 0, 0, cRows, cCols);
-    case TopRight:
-      return Block<Derived>(derived(), 0, cols() - cCols, cRows, cCols);
-    case BottomLeft:
-      return Block<Derived>(derived(), rows() - cRows, 0, cRows, cCols);
-    case BottomRight:
-      return Block<Derived>(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
-  }
-}
-
-/** This is the const version of corner(CornerType, Index, Index).*/
-template<typename Derived>
-inline const Block<Derived>
-DenseBase<Derived>::corner(CornerType type, Index cRows, Index cCols) const
-{
-  switch(type)
-  {
-    default:
-      eigen_assert(false && "Bad corner type.");
-    case TopLeft:
-      return Block<Derived>(derived(), 0, 0, cRows, cCols);
-    case TopRight:
-      return Block<Derived>(derived(), 0, cols() - cCols, cRows, cCols);
-    case BottomLeft:
-      return Block<Derived>(derived(), rows() - cRows, 0, cRows, cCols);
-    case BottomRight:
-      return Block<Derived>(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
-  }
-}
-
-/** \returns a fixed-size expression of a corner of *this.
-  *
-  * \param type the type of corner. Can be \a Eigen::TopLeft, \a Eigen::TopRight,
-  * \a Eigen::BottomLeft, \a Eigen::BottomRight.
-  *
-  * The template parameters CRows and CCols arethe number of rows and columns in the corner.
-  *
-  * Example: \include MatrixBase_template_int_int_corner_enum.cpp
-  * Output: \verbinclude MatrixBase_template_int_int_corner_enum.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
-template<typename Derived>
-template<int CRows, int CCols>
-inline Block<Derived, CRows, CCols>
-DenseBase<Derived>::corner(CornerType type)
-{
-  switch(type)
-  {
-    default:
-      eigen_assert(false && "Bad corner type.");
-    case TopLeft:
-      return Block<Derived, CRows, CCols>(derived(), 0, 0);
-    case TopRight:
-      return Block<Derived, CRows, CCols>(derived(), 0, cols() - CCols);
-    case BottomLeft:
-      return Block<Derived, CRows, CCols>(derived(), rows() - CRows, 0);
-    case BottomRight:
-      return Block<Derived, CRows, CCols>(derived(), rows() - CRows, cols() - CCols);
-  }
-}
-
-/** This is the const version of corner<int, int>(CornerType).*/
-template<typename Derived>
-template<int CRows, int CCols>
-inline const Block<Derived, CRows, CCols>
-DenseBase<Derived>::corner(CornerType type) const
-{
-  switch(type)
-  {
-    default:
-      eigen_assert(false && "Bad corner type.");
-    case TopLeft:
-      return Block<Derived, CRows, CCols>(derived(), 0, 0);
-    case TopRight:
-      return Block<Derived, CRows, CCols>(derived(), 0, cols() - CCols);
-    case BottomLeft:
-      return Block<Derived, CRows, CCols>(derived(), rows() - CRows, 0);
-    case BottomRight:
-      return Block<Derived, CRows, CCols>(derived(), rows() - CRows, cols() - CCols);
-  }
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_BLOCK2_H
diff --git a/Eigen/src/Eigen2Support/CMakeLists.txt b/Eigen/src/Eigen2Support/CMakeLists.txt
deleted file mode 100644
index 7ae41b3cb..000000000
--- a/Eigen/src/Eigen2Support/CMakeLists.txt
+++ /dev/null
@@ -1,8 +0,0 @@
-FILE(GLOB Eigen_Eigen2Support_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_Eigen2Support_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Eigen2Support COMPONENT Devel
-  )
-
-ADD_SUBDIRECTORY(Geometry)
-\ No newline at end of file
diff --git a/Eigen/src/Eigen2Support/Cwise.h b/Eigen/src/Eigen2Support/Cwise.h
deleted file mode 100644
index d95009b6e..000000000
--- a/Eigen/src/Eigen2Support/Cwise.h
+++ /dev/null
@@ -1,192 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CWISE_H
-#define EIGEN_CWISE_H
-
-namespace Eigen { 
-
-/** \internal
-  * convenient macro to defined the return type of a cwise binary operation */
-#define EIGEN_CWISE_BINOP_RETURN_TYPE(OP) \
-    CwiseBinaryOp<OP<typename internal::traits<ExpressionType>::Scalar>, ExpressionType, OtherDerived>
-
-/** \internal
-  * convenient macro to defined the return type of a cwise unary operation */
-#define EIGEN_CWISE_UNOP_RETURN_TYPE(OP) \
-    CwiseUnaryOp<OP<typename internal::traits<ExpressionType>::Scalar>, ExpressionType>
-
-/** \internal
-  * convenient macro to defined the return type of a cwise comparison to a scalar */
-#define EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(OP) \
-    CwiseBinaryOp<OP<typename internal::traits<ExpressionType>::Scalar>, ExpressionType, \
-        typename ExpressionType::ConstantReturnType >
-
-/** \class Cwise
-  *
-  * \brief Pseudo expression providing additional coefficient-wise operations
-  *
-  * \param ExpressionType the type of the object on which to do coefficient-wise operations
-  *
-  * This class represents an expression with additional coefficient-wise features.
-  * It is the return type of MatrixBase::cwise()
-  * and most of the time this is the only way it is used.
-  *
-  * Example: \include MatrixBase_cwise_const.cpp
-  * Output: \verbinclude MatrixBase_cwise_const.out
-  *
-  * This class can be extended with the help of the plugin mechanism described on the page
-  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_CWISE_PLUGIN.
-  *
-  * \sa MatrixBase::cwise() const, MatrixBase::cwise()
-  */
-template<typename ExpressionType> class Cwise
-{
-  public:
-
-    typedef typename internal::traits<ExpressionType>::Scalar Scalar;
-    typedef typename internal::conditional<internal::must_nest_by_value<ExpressionType>::ret,
-        ExpressionType, const ExpressionType&>::type ExpressionTypeNested;
-    typedef CwiseUnaryOp<internal::scalar_add_op<Scalar>, ExpressionType> ScalarAddReturnType;
-
-    inline Cwise(const ExpressionType& matrix) : m_matrix(matrix) {}
-
-    /** \internal */
-    inline const ExpressionType& _expression() const { return m_matrix; }
-
-    template<typename OtherDerived>
-    const EIGEN_CWISE_PRODUCT_RETURN_TYPE(ExpressionType,OtherDerived)
-    operator*(const MatrixBase<OtherDerived> &other) const;
-
-    template<typename OtherDerived>
-    const EIGEN_CWISE_BINOP_RETURN_TYPE(internal::scalar_quotient_op)
-    operator/(const MatrixBase<OtherDerived> &other) const;
-
-    /** \deprecated ArrayBase::min() */
-    template<typename OtherDerived>
-    const EIGEN_CWISE_BINOP_RETURN_TYPE(internal::scalar_min_op)
-    (min)(const MatrixBase<OtherDerived> &other) const
-    { return EIGEN_CWISE_BINOP_RETURN_TYPE(internal::scalar_min_op)(_expression(), other.derived()); }
-
-    /** \deprecated ArrayBase::max() */
-    template<typename OtherDerived>
-    const EIGEN_CWISE_BINOP_RETURN_TYPE(internal::scalar_max_op)
-    (max)(const MatrixBase<OtherDerived> &other) const
-    { return EIGEN_CWISE_BINOP_RETURN_TYPE(internal::scalar_max_op)(_expression(), other.derived()); }
-
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_abs_op)      abs() const;
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_abs2_op)     abs2() const;
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_square_op)   square() const;
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_cube_op)     cube() const;
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_inverse_op)  inverse() const;
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_sqrt_op)     sqrt() const;
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_exp_op)      exp() const;
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_log_op)      log() const;
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_cos_op)      cos() const;
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_sin_op)      sin() const;
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_pow_op)      pow(const Scalar& exponent) const;
-
-    const ScalarAddReturnType
-    operator+(const Scalar& scalar) const;
-
-    /** \relates Cwise */
-    friend const ScalarAddReturnType
-    operator+(const Scalar& scalar, const Cwise& mat)
-    { return mat + scalar; }
-
-    ExpressionType& operator+=(const Scalar& scalar);
-
-    const ScalarAddReturnType
-    operator-(const Scalar& scalar) const;
-
-    ExpressionType& operator-=(const Scalar& scalar);
-
-    template<typename OtherDerived>
-    inline ExpressionType& operator*=(const MatrixBase<OtherDerived> &other);
-
-    template<typename OtherDerived>
-    inline ExpressionType& operator/=(const MatrixBase<OtherDerived> &other);
-
-    template<typename OtherDerived> const EIGEN_CWISE_BINOP_RETURN_TYPE(std::less)
-    operator<(const MatrixBase<OtherDerived>& other) const;
-
-    template<typename OtherDerived> const EIGEN_CWISE_BINOP_RETURN_TYPE(std::less_equal)
-    operator<=(const MatrixBase<OtherDerived>& other) const;
-
-    template<typename OtherDerived> const EIGEN_CWISE_BINOP_RETURN_TYPE(std::greater)
-    operator>(const MatrixBase<OtherDerived>& other) const;
-
-    template<typename OtherDerived> const EIGEN_CWISE_BINOP_RETURN_TYPE(std::greater_equal)
-    operator>=(const MatrixBase<OtherDerived>& other) const;
-
-    template<typename OtherDerived> const EIGEN_CWISE_BINOP_RETURN_TYPE(std::equal_to)
-    operator==(const MatrixBase<OtherDerived>& other) const;
-
-    template<typename OtherDerived> const EIGEN_CWISE_BINOP_RETURN_TYPE(std::not_equal_to)
-    operator!=(const MatrixBase<OtherDerived>& other) const;
-
-    // comparisons to a scalar value
-    const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::less)
-    operator<(Scalar s) const;
-
-    const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::less_equal)
-    operator<=(Scalar s) const;
-
-    const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::greater)
-    operator>(Scalar s) const;
-
-    const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::greater_equal)
-    operator>=(Scalar s) const;
-
-    const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::equal_to)
-    operator==(Scalar s) const;
-
-    const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::not_equal_to)
-    operator!=(Scalar s) const;
-
-    // allow to extend Cwise outside Eigen
-    #ifdef EIGEN_CWISE_PLUGIN
-    #include EIGEN_CWISE_PLUGIN
-    #endif
-
-  protected:
-    ExpressionTypeNested m_matrix;
-};
-
-
-/** \returns a Cwise wrapper of *this providing additional coefficient-wise operations
-  *
-  * Example: \include MatrixBase_cwise_const.cpp
-  * Output: \verbinclude MatrixBase_cwise_const.out
-  *
-  * \sa class Cwise, cwise()
-  */
-template<typename Derived>
-inline const Cwise<Derived> MatrixBase<Derived>::cwise() const
-{
-  return derived();
-}
-
-/** \returns a Cwise wrapper of *this providing additional coefficient-wise operations
-  *
-  * Example: \include MatrixBase_cwise.cpp
-  * Output: \verbinclude MatrixBase_cwise.out
-  *
-  * \sa class Cwise, cwise() const
-  */
-template<typename Derived>
-inline Cwise<Derived> MatrixBase<Derived>::cwise()
-{
-  return derived();
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_CWISE_H
diff --git a/Eigen/src/Eigen2Support/CwiseOperators.h b/Eigen/src/Eigen2Support/CwiseOperators.h
deleted file mode 100644
index 482f30648..000000000
--- a/Eigen/src/Eigen2Support/CwiseOperators.h
+++ /dev/null
@@ -1,298 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If 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
-
-namespace Eigen { 
-
-/***************************************************************************
-* The following functions were defined in Core
-***************************************************************************/
-
-
-/** \deprecated ArrayBase::abs() */
-template<typename ExpressionType>
-EIGEN_STRONG_INLINE const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_abs_op)
-Cwise<ExpressionType>::abs() const
-{
-  return _expression();
-}
-
-/** \deprecated ArrayBase::abs2() */
-template<typename ExpressionType>
-EIGEN_STRONG_INLINE const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_abs2_op)
-Cwise<ExpressionType>::abs2() const
-{
-  return _expression();
-}
-
-/** \deprecated ArrayBase::exp() */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_exp_op)
-Cwise<ExpressionType>::exp() const
-{
-  return _expression();
-}
-
-/** \deprecated ArrayBase::log() */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_log_op)
-Cwise<ExpressionType>::log() const
-{
-  return _expression();
-}
-
-/** \deprecated ArrayBase::operator*() */
-template<typename ExpressionType>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE const EIGEN_CWISE_PRODUCT_RETURN_TYPE(ExpressionType,OtherDerived)
-Cwise<ExpressionType>::operator*(const MatrixBase<OtherDerived> &other) const
-{
-  return EIGEN_CWISE_PRODUCT_RETURN_TYPE(ExpressionType,OtherDerived)(_expression(), other.derived());
-}
-
-/** \deprecated ArrayBase::operator/() */
-template<typename ExpressionType>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE const EIGEN_CWISE_BINOP_RETURN_TYPE(internal::scalar_quotient_op)
-Cwise<ExpressionType>::operator/(const MatrixBase<OtherDerived> &other) const
-{
-  return EIGEN_CWISE_BINOP_RETURN_TYPE(internal::scalar_quotient_op)(_expression(), other.derived());
-}
-
-/** \deprecated ArrayBase::operator*=() */
-template<typename ExpressionType>
-template<typename OtherDerived>
-inline ExpressionType& Cwise<ExpressionType>::operator*=(const MatrixBase<OtherDerived> &other)
-{
-  return m_matrix.const_cast_derived() = *this * other;
-}
-
-/** \deprecated ArrayBase::operator/=() */
-template<typename ExpressionType>
-template<typename OtherDerived>
-inline ExpressionType& Cwise<ExpressionType>::operator/=(const MatrixBase<OtherDerived> &other)
-{
-  return m_matrix.const_cast_derived() = *this / other;
-}
-
-/***************************************************************************
-* The following functions were defined in Array
-***************************************************************************/
-
-// -- unary operators --
-
-/** \deprecated ArrayBase::sqrt() */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_sqrt_op)
-Cwise<ExpressionType>::sqrt() const
-{
-  return _expression();
-}
-
-/** \deprecated ArrayBase::cos() */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_cos_op)
-Cwise<ExpressionType>::cos() const
-{
-  return _expression();
-}
-
-
-/** \deprecated ArrayBase::sin() */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_sin_op)
-Cwise<ExpressionType>::sin() const
-{
-  return _expression();
-}
-
-
-/** \deprecated ArrayBase::log() */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_pow_op)
-Cwise<ExpressionType>::pow(const Scalar& exponent) const
-{
-  return EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_pow_op)(_expression(), internal::scalar_pow_op<Scalar>(exponent));
-}
-
-
-/** \deprecated ArrayBase::inverse() */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_inverse_op)
-Cwise<ExpressionType>::inverse() const
-{
-  return _expression();
-}
-
-/** \deprecated ArrayBase::square() */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_square_op)
-Cwise<ExpressionType>::square() const
-{
-  return _expression();
-}
-
-/** \deprecated ArrayBase::cube() */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_cube_op)
-Cwise<ExpressionType>::cube() const
-{
-  return _expression();
-}
-
-
-// -- binary operators --
-
-/** \deprecated ArrayBase::operator<() */
-template<typename ExpressionType>
-template<typename OtherDerived>
-inline const EIGEN_CWISE_BINOP_RETURN_TYPE(std::less)
-Cwise<ExpressionType>::operator<(const MatrixBase<OtherDerived> &other) const
-{
-  return EIGEN_CWISE_BINOP_RETURN_TYPE(std::less)(_expression(), other.derived());
-}
-
-/** \deprecated ArrayBase::<=() */
-template<typename ExpressionType>
-template<typename OtherDerived>
-inline const EIGEN_CWISE_BINOP_RETURN_TYPE(std::less_equal)
-Cwise<ExpressionType>::operator<=(const MatrixBase<OtherDerived> &other) const
-{
-  return EIGEN_CWISE_BINOP_RETURN_TYPE(std::less_equal)(_expression(), other.derived());
-}
-
-/** \deprecated ArrayBase::operator>() */
-template<typename ExpressionType>
-template<typename OtherDerived>
-inline const EIGEN_CWISE_BINOP_RETURN_TYPE(std::greater)
-Cwise<ExpressionType>::operator>(const MatrixBase<OtherDerived> &other) const
-{
-  return EIGEN_CWISE_BINOP_RETURN_TYPE(std::greater)(_expression(), other.derived());
-}
-
-/** \deprecated ArrayBase::operator>=() */
-template<typename ExpressionType>
-template<typename OtherDerived>
-inline const EIGEN_CWISE_BINOP_RETURN_TYPE(std::greater_equal)
-Cwise<ExpressionType>::operator>=(const MatrixBase<OtherDerived> &other) const
-{
-  return EIGEN_CWISE_BINOP_RETURN_TYPE(std::greater_equal)(_expression(), other.derived());
-}
-
-/** \deprecated ArrayBase::operator==() */
-template<typename ExpressionType>
-template<typename OtherDerived>
-inline const EIGEN_CWISE_BINOP_RETURN_TYPE(std::equal_to)
-Cwise<ExpressionType>::operator==(const MatrixBase<OtherDerived> &other) const
-{
-  return EIGEN_CWISE_BINOP_RETURN_TYPE(std::equal_to)(_expression(), other.derived());
-}
-
-/** \deprecated ArrayBase::operator!=() */
-template<typename ExpressionType>
-template<typename OtherDerived>
-inline const EIGEN_CWISE_BINOP_RETURN_TYPE(std::not_equal_to)
-Cwise<ExpressionType>::operator!=(const MatrixBase<OtherDerived> &other) const
-{
-  return EIGEN_CWISE_BINOP_RETURN_TYPE(std::not_equal_to)(_expression(), other.derived());
-}
-
-// comparisons to scalar value
-
-/** \deprecated ArrayBase::operator<(Scalar) */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::less)
-Cwise<ExpressionType>::operator<(Scalar s) const
-{
-  return EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::less)(_expression(),
-            typename ExpressionType::ConstantReturnType(_expression().rows(), _expression().cols(), s));
-}
-
-/** \deprecated ArrayBase::operator<=(Scalar) */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::less_equal)
-Cwise<ExpressionType>::operator<=(Scalar s) const
-{
-  return EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::less_equal)(_expression(),
-            typename ExpressionType::ConstantReturnType(_expression().rows(), _expression().cols(), s));
-}
-
-/** \deprecated ArrayBase::operator>(Scalar) */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::greater)
-Cwise<ExpressionType>::operator>(Scalar s) const
-{
-  return EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::greater)(_expression(),
-            typename ExpressionType::ConstantReturnType(_expression().rows(), _expression().cols(), s));
-}
-
-/** \deprecated ArrayBase::operator>=(Scalar) */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::greater_equal)
-Cwise<ExpressionType>::operator>=(Scalar s) const
-{
-  return EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::greater_equal)(_expression(),
-            typename ExpressionType::ConstantReturnType(_expression().rows(), _expression().cols(), s));
-}
-
-/** \deprecated ArrayBase::operator==(Scalar) */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::equal_to)
-Cwise<ExpressionType>::operator==(Scalar s) const
-{
-  return EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::equal_to)(_expression(),
-            typename ExpressionType::ConstantReturnType(_expression().rows(), _expression().cols(), s));
-}
-
-/** \deprecated ArrayBase::operator!=(Scalar) */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::not_equal_to)
-Cwise<ExpressionType>::operator!=(Scalar s) const
-{
-  return EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::not_equal_to)(_expression(),
-            typename ExpressionType::ConstantReturnType(_expression().rows(), _expression().cols(), s));
-}
-
-// scalar addition
-
-/** \deprecated ArrayBase::operator+(Scalar) */
-template<typename ExpressionType>
-inline const typename Cwise<ExpressionType>::ScalarAddReturnType
-Cwise<ExpressionType>::operator+(const Scalar& scalar) const
-{
-  return typename Cwise<ExpressionType>::ScalarAddReturnType(m_matrix, internal::scalar_add_op<Scalar>(scalar));
-}
-
-/** \deprecated ArrayBase::operator+=(Scalar) */
-template<typename ExpressionType>
-inline ExpressionType& Cwise<ExpressionType>::operator+=(const Scalar& scalar)
-{
-  return m_matrix.const_cast_derived() = *this + scalar;
-}
-
-/** \deprecated ArrayBase::operator-(Scalar) */
-template<typename ExpressionType>
-inline const typename Cwise<ExpressionType>::ScalarAddReturnType
-Cwise<ExpressionType>::operator-(const Scalar& scalar) const
-{
-  return *this + (-scalar);
-}
-
-/** \deprecated ArrayBase::operator-=(Scalar) */
-template<typename ExpressionType>
-inline ExpressionType& Cwise<ExpressionType>::operator-=(const Scalar& scalar)
-{
-  return m_matrix.const_cast_derived() = *this - scalar;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_ARRAY_CWISE_OPERATORS_H
diff --git a/Eigen/src/Eigen2Support/Geometry/AlignedBox.h b/Eigen/src/Eigen2Support/Geometry/AlignedBox.h
deleted file mode 100644
index 2e4309dd9..000000000
--- a/Eigen/src/Eigen2Support/Geometry/AlignedBox.h
+++ /dev/null
@@ -1,159 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. 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
-
-namespace Eigen { 
-
-/** \geometry_module \ingroup Geometry_Module
-  * \nonstableyet
-  *
-  * \class AlignedBox
-  *
-  * \brief An axis aligned box
-  *
-  * \param _Scalar the type of the scalar coefficients
-  * \param _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
-  *
-  * This class represents an axis aligned box as a pair of the minimal and maximal corners.
-  */
-template <typename _Scalar, int _AmbientDim>
-class AlignedBox
-{
-public:
-EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==Dynamic ? Dynamic : _AmbientDim+1)
-  enum { AmbientDimAtCompileTime = _AmbientDim };
-  typedef _Scalar Scalar;
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
-
-  /** Default constructor initializing a null box. */
-  inline AlignedBox()
-  { if (AmbientDimAtCompileTime!=Dynamic) setNull(); }
-
-  /** Constructs a null box with \a _dim the dimension of the ambient space. */
-  inline explicit AlignedBox(int _dim) : m_min(_dim), m_max(_dim)
-  { setNull(); }
-
-  /** Constructs a box with extremities \a _min and \a _max. */
-  inline AlignedBox(const VectorType& _min, const VectorType& _max) : m_min(_min), m_max(_max) {}
-
-  /** Constructs a box containing a single point \a p. */
-  inline explicit AlignedBox(const VectorType& p) : m_min(p), m_max(p) {}
-
-  ~AlignedBox() {}
-
-  /** \returns the dimension in which the box holds */
-  inline int dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size()-1 : AmbientDimAtCompileTime; }
-
-  /** \returns true if the box is null, i.e, empty. */
-  inline bool isNull() const { return (m_min.cwise() > m_max).any(); }
-
-  /** Makes \c *this a null/empty box. */
-  inline void setNull()
-  {
-    m_min.setConstant( (std::numeric_limits<Scalar>::max)());
-    m_max.setConstant(-(std::numeric_limits<Scalar>::max)());
-  }
-
-  /** \returns the minimal corner */
-  inline const VectorType& (min)() const { return m_min; }
-  /** \returns a non const reference to the minimal corner */
-  inline VectorType& (min)() { return m_min; }
-  /** \returns the maximal corner */
-  inline const VectorType& (max)() const { return m_max; }
-  /** \returns a non const reference to the maximal corner */
-  inline VectorType& (max)() { return m_max; }
-
-  /** \returns true if the point \a p is inside the box \c *this. */
-  inline bool contains(const VectorType& p) const
-  { return (m_min.cwise()<=p).all() && (p.cwise()<=m_max).all(); }
-
-  /** \returns true if the box \a b is entirely inside the box \c *this. */
-  inline bool contains(const AlignedBox& b) const
-  { return (m_min.cwise()<=(b.min)()).all() && ((b.max)().cwise()<=m_max).all(); }
-
-  /** Extends \c *this such that it contains the point \a p and returns a reference to \c *this. */
-  inline AlignedBox& extend(const VectorType& p)
-  { m_min = (m_min.cwise().min)(p); m_max = (m_max.cwise().max)(p); return *this; }
-
-  /** Extends \c *this such that it contains the box \a b and returns a reference to \c *this. */
-  inline AlignedBox& extend(const AlignedBox& b)
-  { m_min = (m_min.cwise().min)(b.m_min); m_max = (m_max.cwise().max)(b.m_max); return *this; }
-
-  /** Clamps \c *this by the box \a b and returns a reference to \c *this. */
-  inline AlignedBox& clamp(const AlignedBox& b)
-  { m_min = (m_min.cwise().max)(b.m_min); m_max = (m_max.cwise().min)(b.m_max); return *this; }
-
-  /** Translate \c *this by the vector \a t and returns a reference to \c *this. */
-  inline AlignedBox& translate(const VectorType& t)
-  { m_min += t; m_max += t; return *this; }
-
-  /** \returns the squared distance between the point \a p and the box \c *this,
-    * and zero if \a p is inside the box.
-    * \sa exteriorDistance()
-    */
-  inline Scalar squaredExteriorDistance(const VectorType& p) const;
-
-  /** \returns the distance between the point \a p and the box \c *this,
-    * and zero if \a p is inside the box.
-    * \sa squaredExteriorDistance()
-    */
-  inline Scalar exteriorDistance(const VectorType& p) const
-  { return ei_sqrt(squaredExteriorDistance(p)); }
-
-  /** \returns \c *this with scalar type casted to \a NewScalarType
-    *
-    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
-    * then this function smartly returns a const reference to \c *this.
-    */
-  template<typename NewScalarType>
-  inline typename internal::cast_return_type<AlignedBox,
-           AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
-  {
-    return typename internal::cast_return_type<AlignedBox,
-                    AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type(*this);
-  }
-
-  /** Copy constructor with scalar type conversion */
-  template<typename OtherScalarType>
-  inline explicit AlignedBox(const AlignedBox<OtherScalarType,AmbientDimAtCompileTime>& other)
-  {
-    m_min = (other.min)().template cast<Scalar>();
-    m_max = (other.max)().template cast<Scalar>();
-  }
-
-  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
-    * determined by \a prec.
-    *
-    * \sa MatrixBase::isApprox() */
-  bool isApprox(const AlignedBox& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
-  { return m_min.isApprox(other.m_min, prec) && m_max.isApprox(other.m_max, prec); }
-
-protected:
-
-  VectorType m_min, m_max;
-};
-
-template<typename Scalar,int AmbiantDim>
-inline Scalar AlignedBox<Scalar,AmbiantDim>::squaredExteriorDistance(const VectorType& p) const
-{
-  Scalar dist2(0);
-  Scalar aux;
-  for (int k=0; k<dim(); ++k)
-  {
-    if ((aux = (p[k]-m_min[k]))<Scalar(0))
-      dist2 += aux*aux;
-    else if ( (aux = (m_max[k]-p[k]))<Scalar(0))
-      dist2 += aux*aux;
-  }
-  return dist2;
-}
-
-} // end namespace Eigen
diff --git a/Eigen/src/Eigen2Support/Geometry/All.h b/Eigen/src/Eigen2Support/Geometry/All.h
deleted file mode 100644
index e0b00fccc..000000000
--- a/Eigen/src/Eigen2Support/Geometry/All.h
+++ /dev/null
@@ -1,115 +0,0 @@
-#ifndef EIGEN2_GEOMETRY_MODULE_H
-#define EIGEN2_GEOMETRY_MODULE_H
-
-#include <limits>
-
-#ifndef M_PI
-#define M_PI 3.14159265358979323846
-#endif
-
-#if EIGEN2_SUPPORT_STAGE < STAGE20_RESOLVE_API_CONFLICTS
-#include "RotationBase.h"
-#include "Rotation2D.h"
-#include "Quaternion.h"
-#include "AngleAxis.h"
-#include "Transform.h"
-#include "Translation.h"
-#include "Scaling.h"
-#include "AlignedBox.h"
-#include "Hyperplane.h"
-#include "ParametrizedLine.h"
-#endif
-
-
-#define RotationBase eigen2_RotationBase
-#define Rotation2D eigen2_Rotation2D
-#define Rotation2Df eigen2_Rotation2Df
-#define Rotation2Dd eigen2_Rotation2Dd
-
-#define Quaternion  eigen2_Quaternion
-#define Quaternionf eigen2_Quaternionf
-#define Quaterniond eigen2_Quaterniond
-
-#define AngleAxis eigen2_AngleAxis
-#define AngleAxisf eigen2_AngleAxisf
-#define AngleAxisd eigen2_AngleAxisd
-
-#define Transform   eigen2_Transform
-#define Transform2f eigen2_Transform2f
-#define Transform2d eigen2_Transform2d
-#define Transform3f eigen2_Transform3f
-#define Transform3d eigen2_Transform3d
-
-#define Translation eigen2_Translation
-#define Translation2f eigen2_Translation2f
-#define Translation2d eigen2_Translation2d
-#define Translation3f eigen2_Translation3f
-#define Translation3d eigen2_Translation3d
-
-#define Scaling eigen2_Scaling
-#define Scaling2f eigen2_Scaling2f
-#define Scaling2d eigen2_Scaling2d
-#define Scaling3f eigen2_Scaling3f
-#define Scaling3d eigen2_Scaling3d
-
-#define AlignedBox eigen2_AlignedBox
-
-#define Hyperplane eigen2_Hyperplane
-#define ParametrizedLine eigen2_ParametrizedLine
-
-#define ei_toRotationMatrix eigen2_ei_toRotationMatrix
-#define ei_quaternion_assign_impl eigen2_ei_quaternion_assign_impl
-#define ei_transform_product_impl eigen2_ei_transform_product_impl
-
-#include "RotationBase.h"
-#include "Rotation2D.h"
-#include "Quaternion.h"
-#include "AngleAxis.h"
-#include "Transform.h"
-#include "Translation.h"
-#include "Scaling.h"
-#include "AlignedBox.h"
-#include "Hyperplane.h"
-#include "ParametrizedLine.h"
-
-#undef ei_toRotationMatrix
-#undef ei_quaternion_assign_impl
-#undef ei_transform_product_impl
-
-#undef RotationBase
-#undef Rotation2D
-#undef Rotation2Df
-#undef Rotation2Dd
-
-#undef Quaternion
-#undef Quaternionf
-#undef Quaterniond
-
-#undef AngleAxis
-#undef AngleAxisf
-#undef AngleAxisd
-
-#undef Transform
-#undef Transform2f
-#undef Transform2d
-#undef Transform3f
-#undef Transform3d
-
-#undef Translation
-#undef Translation2f
-#undef Translation2d
-#undef Translation3f
-#undef Translation3d
-
-#undef Scaling
-#undef Scaling2f
-#undef Scaling2d
-#undef Scaling3f
-#undef Scaling3d
-
-#undef AlignedBox
-
-#undef Hyperplane
-#undef ParametrizedLine
-
-#endif // EIGEN2_GEOMETRY_MODULE_H
diff --git a/Eigen/src/Eigen2Support/Geometry/AngleAxis.h b/Eigen/src/Eigen2Support/Geometry/AngleAxis.h
deleted file mode 100644
index a0b4ac44e..000000000
--- a/Eigen/src/Eigen2Support/Geometry/AngleAxis.h
+++ /dev/null
@@ -1,228 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. 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
-
-namespace Eigen { 
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \class AngleAxis
-  *
-  * \brief Represents a 3D rotation as a rotation angle around an arbitrary 3D axis
-  *
-  * \param _Scalar the scalar type, i.e., the type of the coefficients.
-  *
-  * The following two typedefs are provided for convenience:
-  * \li \c AngleAxisf for \c float
-  * \li \c AngleAxisd for \c double
-  *
-  * \addexample AngleAxisForEuler \label How to define a rotation from Euler-angles
-  *
-  * Combined with MatrixBase::Unit{X,Y,Z}, AngleAxis can be used to easily
-  * mimic Euler-angles. Here is an example:
-  * \include AngleAxis_mimic_euler.cpp
-  * Output: \verbinclude AngleAxis_mimic_euler.out
-  *
-  * \note This class is not aimed to be used to store a rotation transformation,
-  * but rather to make easier the creation of other rotation (Quaternion, rotation Matrix)
-  * and transformation objects.
-  *
-  * \sa class Quaternion, class Transform, MatrixBase::UnitX()
-  */
-
-template<typename _Scalar> struct ei_traits<AngleAxis<_Scalar> >
-{
-  typedef _Scalar Scalar;
-};
-
-template<typename _Scalar>
-class AngleAxis : public RotationBase<AngleAxis<_Scalar>,3>
-{
-  typedef RotationBase<AngleAxis<_Scalar>,3> Base;
-
-public:
-
-  using Base::operator*;
-
-  enum { Dim = 3 };
-  /** the scalar type of the coefficients */
-  typedef _Scalar Scalar;
-  typedef Matrix<Scalar,3,3> Matrix3;
-  typedef Matrix<Scalar,3,1> Vector3;
-  typedef Quaternion<Scalar> QuaternionType;
-
-protected:
-
-  Vector3 m_axis;
-  Scalar m_angle;
-
-public:
-
-  /** Default constructor without initialization. */
-  AngleAxis() {}
-
-  /** Constructs and initialize the angle-axis rotation from an \a angle in radian
-    * and an \a axis which must be normalized. */
-  template<typename Derived>
-  inline AngleAxis(Scalar angle, const MatrixBase<Derived>& axis) : m_axis(axis), m_angle(angle)
-  {
-    using std::sqrt;
-    using std::abs;
-    // since we compare against 1, this is equal to computing the relative error
-    eigen_assert( abs(m_axis.derived().squaredNorm() - 1) < sqrt( NumTraits<Scalar>::dummy_precision() ) );
-  }
-
-  /** Constructs and initialize the angle-axis rotation from a quaternion \a q. */
-  inline AngleAxis(const QuaternionType& q) { *this = q; }
-
-  /** Constructs and initialize the angle-axis rotation from a 3x3 rotation matrix. */
-  template<typename Derived>
-  inline explicit AngleAxis(const MatrixBase<Derived>& m) { *this = m; }
-
-  Scalar angle() const { return m_angle; }
-  Scalar& angle() { return m_angle; }
-
-  const Vector3& axis() const { return m_axis; }
-  Vector3& axis() { return m_axis; }
-
-  /** Concatenates two rotations */
-  inline QuaternionType operator* (const AngleAxis& other) const
-  { return QuaternionType(*this) * QuaternionType(other); }
-
-  /** Concatenates two rotations */
-  inline QuaternionType operator* (const QuaternionType& other) const
-  { return QuaternionType(*this) * other; }
-
-  /** Concatenates two rotations */
-  friend inline QuaternionType operator* (const QuaternionType& a, const AngleAxis& b)
-  { return a * QuaternionType(b); }
-
-  /** Concatenates two rotations */
-  inline Matrix3 operator* (const Matrix3& other) const
-  { return toRotationMatrix() * other; }
-
-  /** Concatenates two rotations */
-  inline friend Matrix3 operator* (const Matrix3& a, const AngleAxis& b)
-  { return a * b.toRotationMatrix(); }
-
-  /** Applies rotation to vector */
-  inline Vector3 operator* (const Vector3& other) const
-  { return toRotationMatrix() * other; }
-
-  /** \returns the inverse rotation, i.e., an angle-axis with opposite rotation angle */
-  AngleAxis inverse() const
-  { return AngleAxis(-m_angle, m_axis); }
-
-  AngleAxis& operator=(const QuaternionType& q);
-  template<typename Derived>
-  AngleAxis& operator=(const MatrixBase<Derived>& m);
-
-  template<typename Derived>
-  AngleAxis& fromRotationMatrix(const MatrixBase<Derived>& m);
-  Matrix3 toRotationMatrix(void) const;
-
-  /** \returns \c *this with scalar type casted to \a NewScalarType
-    *
-    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
-    * then this function smartly returns a const reference to \c *this.
-    */
-  template<typename NewScalarType>
-  inline typename internal::cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type cast() const
-  { return typename internal::cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type(*this); }
-
-  /** Copy constructor with scalar type conversion */
-  template<typename OtherScalarType>
-  inline explicit AngleAxis(const AngleAxis<OtherScalarType>& other)
-  {
-    m_axis = other.axis().template cast<Scalar>();
-    m_angle = Scalar(other.angle());
-  }
-
-  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
-    * determined by \a prec.
-    *
-    * \sa MatrixBase::isApprox() */
-  bool isApprox(const AngleAxis& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
-  { return m_axis.isApprox(other.m_axis, prec) && ei_isApprox(m_angle,other.m_angle, prec); }
-};
-
-/** \ingroup Geometry_Module
-  * single precision angle-axis type */
-typedef AngleAxis<float> AngleAxisf;
-/** \ingroup Geometry_Module
-  * double precision angle-axis type */
-typedef AngleAxis<double> AngleAxisd;
-
-/** Set \c *this from a quaternion.
-  * The axis is normalized.
-  */
-template<typename Scalar>
-AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const QuaternionType& q)
-{
-  Scalar n2 = q.vec().squaredNorm();
-  if (n2 < precision<Scalar>()*precision<Scalar>())
-  {
-    m_angle = 0;
-    m_axis << 1, 0, 0;
-  }
-  else
-  {
-    m_angle = 2*std::acos(q.w());
-    m_axis = q.vec() / ei_sqrt(n2);
-
-    using std::sqrt;
-    using std::abs;
-    // since we compare against 1, this is equal to computing the relative error
-    eigen_assert( abs(m_axis.derived().squaredNorm() - 1) < sqrt( NumTraits<Scalar>::dummy_precision() ) );
-  }
-  return *this;
-}
-
-/** Set \c *this from a 3x3 rotation matrix \a mat.
-  */
-template<typename Scalar>
-template<typename Derived>
-AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const MatrixBase<Derived>& mat)
-{
-  // Since a direct conversion would not be really faster,
-  // let's use the robust Quaternion implementation:
-  return *this = QuaternionType(mat);
-}
-
-/** Constructs and \returns an equivalent 3x3 rotation matrix.
-  */
-template<typename Scalar>
-typename AngleAxis<Scalar>::Matrix3
-AngleAxis<Scalar>::toRotationMatrix(void) const
-{
-  Matrix3 res;
-  Vector3 sin_axis  = ei_sin(m_angle) * m_axis;
-  Scalar c = ei_cos(m_angle);
-  Vector3 cos1_axis = (Scalar(1)-c) * m_axis;
-
-  Scalar tmp;
-  tmp = cos1_axis.x() * m_axis.y();
-  res.coeffRef(0,1) = tmp - sin_axis.z();
-  res.coeffRef(1,0) = tmp + sin_axis.z();
-
-  tmp = cos1_axis.x() * m_axis.z();
-  res.coeffRef(0,2) = tmp + sin_axis.y();
-  res.coeffRef(2,0) = tmp - sin_axis.y();
-
-  tmp = cos1_axis.y() * m_axis.z();
-  res.coeffRef(1,2) = tmp - sin_axis.x();
-  res.coeffRef(2,1) = tmp + sin_axis.x();
-
-  res.diagonal() = (cos1_axis.cwise() * m_axis).cwise() + c;
-
-  return res;
-}
-
-} // end namespace Eigen
diff --git a/Eigen/src/Eigen2Support/Geometry/CMakeLists.txt b/Eigen/src/Eigen2Support/Geometry/CMakeLists.txt
deleted file mode 100644
index c347a8f26..000000000
--- a/Eigen/src/Eigen2Support/Geometry/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_Eigen2Support_Geometry_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_Eigen2Support_Geometry_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Eigen2Support/Geometry
-  )
diff --git a/Eigen/src/Eigen2Support/Geometry/Hyperplane.h b/Eigen/src/Eigen2Support/Geometry/Hyperplane.h
deleted file mode 100644
index b95bf00ec..000000000
--- a/Eigen/src/Eigen2Support/Geometry/Hyperplane.h
+++ /dev/null
@@ -1,254 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
-
-namespace Eigen { 
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \class Hyperplane
-  *
-  * \brief A hyperplane
-  *
-  * A hyperplane is an affine subspace of dimension n-1 in a space of dimension n.
-  * For example, a hyperplane in a plane is a line; a hyperplane in 3-space is a plane.
-  *
-  * \param _Scalar the scalar type, i.e., the type of the coefficients
-  * \param _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
-  *             Notice that the dimension of the hyperplane is _AmbientDim-1.
-  *
-  * This class represents an hyperplane as the zero set of the implicit equation
-  * \f$ n \cdot x + d = 0 \f$ where \f$ n \f$ is a unit normal vector of the plane (linear part)
-  * and \f$ d \f$ is the distance (offset) to the origin.
-  */
-template <typename _Scalar, int _AmbientDim>
-class Hyperplane
-{
-public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==Dynamic ? Dynamic : _AmbientDim+1)
-  enum { AmbientDimAtCompileTime = _AmbientDim };
-  typedef _Scalar Scalar;
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
-  typedef Matrix<Scalar,int(AmbientDimAtCompileTime)==Dynamic
-                        ? Dynamic
-                        : int(AmbientDimAtCompileTime)+1,1> Coefficients;
-  typedef Block<Coefficients,AmbientDimAtCompileTime,1> NormalReturnType;
-
-  /** Default constructor without initialization */
-  inline Hyperplane() {}
-
-  /** Constructs a dynamic-size hyperplane with \a _dim the dimension
-    * of the ambient space */
-  inline explicit Hyperplane(int _dim) : m_coeffs(_dim+1) {}
-
-  /** Construct a plane from its normal \a n and a point \a e onto the plane.
-    * \warning the vector normal is assumed to be normalized.
-    */
-  inline Hyperplane(const VectorType& n, const VectorType& e)
-    : m_coeffs(n.size()+1)
-  {
-    normal() = n;
-    offset() = -e.eigen2_dot(n);
-  }
-
-  /** Constructs a plane from its normal \a n and distance to the origin \a d
-    * such that the algebraic equation of the plane is \f$ n \cdot x + d = 0 \f$.
-    * \warning the vector normal is assumed to be normalized.
-    */
-  inline Hyperplane(const VectorType& n, Scalar d)
-    : m_coeffs(n.size()+1)
-  {
-    normal() = n;
-    offset() = d;
-  }
-
-  /** Constructs a hyperplane passing through the two points. If the dimension of the ambient space
-    * is greater than 2, then there isn't uniqueness, so an arbitrary choice is made.
-    */
-  static inline Hyperplane Through(const VectorType& p0, const VectorType& p1)
-  {
-    Hyperplane result(p0.size());
-    result.normal() = (p1 - p0).unitOrthogonal();
-    result.offset() = -result.normal().eigen2_dot(p0);
-    return result;
-  }
-
-  /** Constructs a hyperplane passing through the three points. The dimension of the ambient space
-    * is required to be exactly 3.
-    */
-  static inline Hyperplane Through(const VectorType& p0, const VectorType& p1, const VectorType& p2)
-  {
-    EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 3)
-    Hyperplane result(p0.size());
-    result.normal() = (p2 - p0).cross(p1 - p0).normalized();
-    result.offset() = -result.normal().eigen2_dot(p0);
-    return result;
-  }
-
-  /** Constructs a hyperplane passing through the parametrized line \a parametrized.
-    * If the dimension of the ambient space is greater than 2, then there isn't uniqueness,
-    * so an arbitrary choice is made.
-    */
-  // FIXME to be consitent with the rest this could be implemented as a static Through function ??
-  explicit Hyperplane(const ParametrizedLine<Scalar, AmbientDimAtCompileTime>& parametrized)
-  {
-    normal() = parametrized.direction().unitOrthogonal();
-    offset() = -normal().eigen2_dot(parametrized.origin());
-  }
-
-  ~Hyperplane() {}
-
-  /** \returns the dimension in which the plane holds */
-  inline int dim() const { return int(AmbientDimAtCompileTime)==Dynamic ? m_coeffs.size()-1 : int(AmbientDimAtCompileTime); }
-
-  /** normalizes \c *this */
-  void normalize(void)
-  {
-    m_coeffs /= normal().norm();
-  }
-
-  /** \returns the signed distance between the plane \c *this and a point \a p.
-    * \sa absDistance()
-    */
-  inline Scalar signedDistance(const VectorType& p) const { return p.eigen2_dot(normal()) + offset(); }
-
-  /** \returns the absolute distance between the plane \c *this and a point \a p.
-    * \sa signedDistance()
-    */
-  inline Scalar absDistance(const VectorType& p) const { return ei_abs(signedDistance(p)); }
-
-  /** \returns the projection of a point \a p onto the plane \c *this.
-    */
-  inline VectorType projection(const VectorType& p) const { return p - signedDistance(p) * normal(); }
-
-  /** \returns a constant reference to the unit normal vector of the plane, which corresponds
-    * to the linear part of the implicit equation.
-    */
-  inline const NormalReturnType normal() const { return NormalReturnType(*const_cast<Coefficients*>(&m_coeffs),0,0,dim(),1); }
-
-  /** \returns a non-constant reference to the unit normal vector of the plane, which corresponds
-    * to the linear part of the implicit equation.
-    */
-  inline NormalReturnType normal() { return NormalReturnType(m_coeffs,0,0,dim(),1); }
-
-  /** \returns the distance to the origin, which is also the "constant term" of the implicit equation
-    * \warning the vector normal is assumed to be normalized.
-    */
-  inline const Scalar& offset() const { return m_coeffs.coeff(dim()); }
-
-  /** \returns a non-constant reference to the distance to the origin, which is also the constant part
-    * of the implicit equation */
-  inline Scalar& offset() { return m_coeffs(dim()); }
-
-  /** \returns a constant reference to the coefficients c_i of the plane equation:
-    * \f$ c_0*x_0 + ... + c_{d-1}*x_{d-1} + c_d = 0 \f$
-    */
-  inline const Coefficients& coeffs() const { return m_coeffs; }
-
-  /** \returns a non-constant reference to the coefficients c_i of the plane equation:
-    * \f$ c_0*x_0 + ... + c_{d-1}*x_{d-1} + c_d = 0 \f$
-    */
-  inline Coefficients& coeffs() { return m_coeffs; }
-
-  /** \returns the intersection of *this with \a other.
-    *
-    * \warning The ambient space must be a plane, i.e. have dimension 2, so that \c *this and \a other are lines.
-    *
-    * \note If \a other is approximately parallel to *this, this method will return any point on *this.
-    */
-  VectorType intersection(const Hyperplane& other)
-  {
-    EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 2)
-    Scalar det = coeffs().coeff(0) * other.coeffs().coeff(1) - coeffs().coeff(1) * other.coeffs().coeff(0);
-    // since the line equations ax+by=c are normalized with a^2+b^2=1, the following tests
-    // whether the two lines are approximately parallel.
-    if(ei_isMuchSmallerThan(det, Scalar(1)))
-    {   // special case where the two lines are approximately parallel. Pick any point on the first line.
-        if(ei_abs(coeffs().coeff(1))>ei_abs(coeffs().coeff(0)))
-            return VectorType(coeffs().coeff(1), -coeffs().coeff(2)/coeffs().coeff(1)-coeffs().coeff(0));
-        else
-            return VectorType(-coeffs().coeff(2)/coeffs().coeff(0)-coeffs().coeff(1), coeffs().coeff(0));
-    }
-    else
-    {   // general case
-        Scalar invdet = Scalar(1) / det;
-        return VectorType(invdet*(coeffs().coeff(1)*other.coeffs().coeff(2)-other.coeffs().coeff(1)*coeffs().coeff(2)),
-                          invdet*(other.coeffs().coeff(0)*coeffs().coeff(2)-coeffs().coeff(0)*other.coeffs().coeff(2)));
-    }
-  }
-
-  /** Applies the transformation matrix \a mat to \c *this and returns a reference to \c *this.
-    *
-    * \param mat the Dim x Dim transformation matrix
-    * \param traits specifies whether the matrix \a mat represents an Isometry
-    *               or a more generic Affine transformation. The default is Affine.
-    */
-  template<typename XprType>
-  inline Hyperplane& transform(const MatrixBase<XprType>& mat, TransformTraits traits = Affine)
-  {
-    if (traits==Affine)
-      normal() = mat.inverse().transpose() * normal();
-    else if (traits==Isometry)
-      normal() = mat * normal();
-    else
-    {
-      ei_assert("invalid traits value in Hyperplane::transform()");
-    }
-    return *this;
-  }
-
-  /** Applies the transformation \a t to \c *this and returns a reference to \c *this.
-    *
-    * \param t the transformation of dimension Dim
-    * \param traits specifies whether the transformation \a t represents an Isometry
-    *               or a more generic Affine transformation. The default is Affine.
-    *               Other kind of transformations are not supported.
-    */
-  inline Hyperplane& transform(const Transform<Scalar,AmbientDimAtCompileTime>& t,
-                                TransformTraits traits = Affine)
-  {
-    transform(t.linear(), traits);
-    offset() -= t.translation().eigen2_dot(normal());
-    return *this;
-  }
-
-  /** \returns \c *this with scalar type casted to \a NewScalarType
-    *
-    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
-    * then this function smartly returns a const reference to \c *this.
-    */
-  template<typename NewScalarType>
-  inline typename internal::cast_return_type<Hyperplane,
-           Hyperplane<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
-  {
-    return typename internal::cast_return_type<Hyperplane,
-                    Hyperplane<NewScalarType,AmbientDimAtCompileTime> >::type(*this);
-  }
-
-  /** Copy constructor with scalar type conversion */
-  template<typename OtherScalarType>
-  inline explicit Hyperplane(const Hyperplane<OtherScalarType,AmbientDimAtCompileTime>& other)
-  { m_coeffs = other.coeffs().template cast<Scalar>(); }
-
-  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
-    * determined by \a prec.
-    *
-    * \sa MatrixBase::isApprox() */
-  bool isApprox(const Hyperplane& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
-  { return m_coeffs.isApprox(other.m_coeffs, prec); }
-
-protected:
-
-  Coefficients m_coeffs;
-};
-
-} // end namespace Eigen
diff --git a/Eigen/src/Eigen2Support/Geometry/ParametrizedLine.h b/Eigen/src/Eigen2Support/Geometry/ParametrizedLine.h
deleted file mode 100644
index 9b57b7e0b..000000000
--- a/Eigen/src/Eigen2Support/Geometry/ParametrizedLine.h
+++ /dev/null
@@ -1,141 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
-
-namespace Eigen { 
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \class ParametrizedLine
-  *
-  * \brief A parametrized line
-  *
-  * A parametrized line is defined by an origin point \f$ \mathbf{o} \f$ and a unit
-  * direction vector \f$ \mathbf{d} \f$ such that the line corresponds to
-  * the set \f$ l(t) = \mathbf{o} + t \mathbf{d} \f$, \f$ l \in \mathbf{R} \f$.
-  *
-  * \param _Scalar the scalar type, i.e., the type of the coefficients
-  * \param _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
-  */
-template <typename _Scalar, int _AmbientDim>
-class ParametrizedLine
-{
-public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
-  enum { AmbientDimAtCompileTime = _AmbientDim };
-  typedef _Scalar Scalar;
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
-
-  /** Default constructor without initialization */
-  inline ParametrizedLine() {}
-
-  /** Constructs a dynamic-size line with \a _dim the dimension
-    * of the ambient space */
-  inline explicit ParametrizedLine(int _dim) : m_origin(_dim), m_direction(_dim) {}
-
-  /** Initializes a parametrized line of direction \a direction and origin \a origin.
-    * \warning the vector direction is assumed to be normalized.
-    */
-  ParametrizedLine(const VectorType& origin, const VectorType& direction)
-    : m_origin(origin), m_direction(direction) {}
-
-  explicit ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim>& hyperplane);
-
-  /** Constructs a parametrized line going from \a p0 to \a p1. */
-  static inline ParametrizedLine Through(const VectorType& p0, const VectorType& p1)
-  { return ParametrizedLine(p0, (p1-p0).normalized()); }
-
-  ~ParametrizedLine() {}
-
-  /** \returns the dimension in which the line holds */
-  inline int dim() const { return m_direction.size(); }
-
-  const VectorType& origin() const { return m_origin; }
-  VectorType& origin() { return m_origin; }
-
-  const VectorType& direction() const { return m_direction; }
-  VectorType& direction() { return m_direction; }
-
-  /** \returns the squared distance of a point \a p to its projection onto the line \c *this.
-    * \sa distance()
-    */
-  RealScalar squaredDistance(const VectorType& p) const
-  {
-    VectorType diff = p-origin();
-    return (diff - diff.eigen2_dot(direction())* direction()).squaredNorm();
-  }
-  /** \returns the distance of a point \a p to its projection onto the line \c *this.
-    * \sa squaredDistance()
-    */
-  RealScalar distance(const VectorType& p) const { return ei_sqrt(squaredDistance(p)); }
-
-  /** \returns the projection of a point \a p onto the line \c *this. */
-  VectorType projection(const VectorType& p) const
-  { return origin() + (p-origin()).eigen2_dot(direction()) * direction(); }
-
-  Scalar intersection(const Hyperplane<_Scalar, _AmbientDim>& hyperplane);
-
-  /** \returns \c *this with scalar type casted to \a NewScalarType
-    *
-    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
-    * then this function smartly returns a const reference to \c *this.
-    */
-  template<typename NewScalarType>
-  inline typename internal::cast_return_type<ParametrizedLine,
-           ParametrizedLine<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
-  {
-    return typename internal::cast_return_type<ParametrizedLine,
-                    ParametrizedLine<NewScalarType,AmbientDimAtCompileTime> >::type(*this);
-  }
-
-  /** Copy constructor with scalar type conversion */
-  template<typename OtherScalarType>
-  inline explicit ParametrizedLine(const ParametrizedLine<OtherScalarType,AmbientDimAtCompileTime>& other)
-  {
-    m_origin = other.origin().template cast<Scalar>();
-    m_direction = other.direction().template cast<Scalar>();
-  }
-
-  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
-    * determined by \a prec.
-    *
-    * \sa MatrixBase::isApprox() */
-  bool isApprox(const ParametrizedLine& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
-  { return m_origin.isApprox(other.m_origin, prec) && m_direction.isApprox(other.m_direction, prec); }
-
-protected:
-
-  VectorType m_origin, m_direction;
-};
-
-/** Constructs a parametrized line from a 2D hyperplane
-  *
-  * \warning the ambient space must have dimension 2 such that the hyperplane actually describes a line
-  */
-template <typename _Scalar, int _AmbientDim>
-inline ParametrizedLine<_Scalar, _AmbientDim>::ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim>& hyperplane)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 2)
-  direction() = hyperplane.normal().unitOrthogonal();
-  origin() = -hyperplane.normal()*hyperplane.offset();
-}
-
-/** \returns the parameter value of the intersection between \c *this and the given hyperplane
-  */
-template <typename _Scalar, int _AmbientDim>
-inline _Scalar ParametrizedLine<_Scalar, _AmbientDim>::intersection(const Hyperplane<_Scalar, _AmbientDim>& hyperplane)
-{
-  return -(hyperplane.offset()+origin().eigen2_dot(hyperplane.normal()))
-          /(direction().eigen2_dot(hyperplane.normal()));
-}
-
-} // end namespace Eigen
diff --git a/Eigen/src/Eigen2Support/Geometry/Quaternion.h b/Eigen/src/Eigen2Support/Geometry/Quaternion.h
deleted file mode 100644
index 4b6390cf1..000000000
--- a/Eigen/src/Eigen2Support/Geometry/Quaternion.h
+++ /dev/null
@@ -1,495 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. 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
-
-namespace Eigen { 
-
-template<typename Other,
-         int OtherRows=Other::RowsAtCompileTime,
-         int OtherCols=Other::ColsAtCompileTime>
-struct ei_quaternion_assign_impl;
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \class Quaternion
-  *
-  * \brief The quaternion class used to represent 3D orientations and rotations
-  *
-  * \param _Scalar the scalar type, i.e., the type of the coefficients
-  *
-  * This class represents a quaternion \f$ w+xi+yj+zk \f$ that is a convenient representation of
-  * orientations and rotations of objects in three dimensions. Compared to other representations
-  * like Euler angles or 3x3 matrices, quatertions offer the following advantages:
-  * \li \b compact storage (4 scalars)
-  * \li \b efficient to compose (28 flops),
-  * \li \b stable spherical interpolation
-  *
-  * The following two typedefs are provided for convenience:
-  * \li \c Quaternionf for \c float
-  * \li \c Quaterniond for \c double
-  *
-  * \sa  class AngleAxis, class Transform
-  */
-
-template<typename _Scalar> struct ei_traits<Quaternion<_Scalar> >
-{
-  typedef _Scalar Scalar;
-};
-
-template<typename _Scalar>
-class Quaternion : public RotationBase<Quaternion<_Scalar>,3>
-{
-  typedef RotationBase<Quaternion<_Scalar>,3> Base;
-
-public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,4)
-
-  using Base::operator*;
-
-  /** the scalar type of the coefficients */
-  typedef _Scalar Scalar;
-
-  /** the type of the Coefficients 4-vector */
-  typedef Matrix<Scalar, 4, 1> Coefficients;
-  /** the type of a 3D vector */
-  typedef Matrix<Scalar,3,1> Vector3;
-  /** the equivalent rotation matrix type */
-  typedef Matrix<Scalar,3,3> Matrix3;
-  /** the equivalent angle-axis type */
-  typedef AngleAxis<Scalar> AngleAxisType;
-
-  /** \returns the \c x coefficient */
-  inline Scalar x() const { return m_coeffs.coeff(0); }
-  /** \returns the \c y coefficient */
-  inline Scalar y() const { return m_coeffs.coeff(1); }
-  /** \returns the \c z coefficient */
-  inline Scalar z() const { return m_coeffs.coeff(2); }
-  /** \returns the \c w coefficient */
-  inline Scalar w() const { return m_coeffs.coeff(3); }
-
-  /** \returns a reference to the \c x coefficient */
-  inline Scalar& x() { return m_coeffs.coeffRef(0); }
-  /** \returns a reference to the \c y coefficient */
-  inline Scalar& y() { return m_coeffs.coeffRef(1); }
-  /** \returns a reference to the \c z coefficient */
-  inline Scalar& z() { return m_coeffs.coeffRef(2); }
-  /** \returns a reference to the \c w coefficient */
-  inline Scalar& w() { return m_coeffs.coeffRef(3); }
-
-  /** \returns a read-only vector expression of the imaginary part (x,y,z) */
-  inline const Block<const Coefficients,3,1> vec() const { return m_coeffs.template start<3>(); }
-
-  /** \returns a vector expression of the imaginary part (x,y,z) */
-  inline Block<Coefficients,3,1> vec() { return m_coeffs.template start<3>(); }
-
-  /** \returns a read-only vector expression of the coefficients (x,y,z,w) */
-  inline const Coefficients& coeffs() const { return m_coeffs; }
-
-  /** \returns a vector expression of the coefficients (x,y,z,w) */
-  inline Coefficients& coeffs() { return m_coeffs; }
-
-  /** Default constructor leaving the quaternion uninitialized. */
-  inline Quaternion() {}
-
-  /** Constructs and initializes the quaternion \f$ w+xi+yj+zk \f$ from
-    * its four coefficients \a w, \a x, \a y and \a z.
-    *
-    * \warning Note the order of the arguments: the real \a w coefficient first,
-    * while internally the coefficients are stored in the following order:
-    * [\c x, \c y, \c z, \c w]
-    */
-  inline Quaternion(Scalar w, Scalar x, Scalar y, Scalar z)
-  { m_coeffs << x, y, z, w; }
-
-  /** Copy constructor */
-  inline Quaternion(const Quaternion& other) { m_coeffs = other.m_coeffs; }
-
-  /** Constructs and initializes a quaternion from the angle-axis \a aa */
-  explicit inline Quaternion(const AngleAxisType& aa) { *this = aa; }
-
-  /** Constructs and initializes a quaternion from either:
-    *  - a rotation matrix expression,
-    *  - a 4D vector expression representing quaternion coefficients.
-    * \sa operator=(MatrixBase<Derived>)
-    */
-  template<typename Derived>
-  explicit inline Quaternion(const MatrixBase<Derived>& other) { *this = other; }
-
-  Quaternion& operator=(const Quaternion& other);
-  Quaternion& operator=(const AngleAxisType& aa);
-  template<typename Derived>
-  Quaternion& operator=(const MatrixBase<Derived>& m);
-
-  /** \returns a quaternion representing an identity rotation
-    * \sa MatrixBase::Identity()
-    */
-  static inline Quaternion Identity() { return Quaternion(1, 0, 0, 0); }
-
-  /** \sa Quaternion::Identity(), MatrixBase::setIdentity()
-    */
-  inline Quaternion& setIdentity() { m_coeffs << 0, 0, 0, 1; return *this; }
-
-  /** \returns the squared norm of the quaternion's coefficients
-    * \sa Quaternion::norm(), MatrixBase::squaredNorm()
-    */
-  inline Scalar squaredNorm() const { return m_coeffs.squaredNorm(); }
-
-  /** \returns the norm of the quaternion's coefficients
-    * \sa Quaternion::squaredNorm(), MatrixBase::norm()
-    */
-  inline Scalar norm() const { return m_coeffs.norm(); }
-
-  /** Normalizes the quaternion \c *this
-    * \sa normalized(), MatrixBase::normalize() */
-  inline void normalize() { m_coeffs.normalize(); }
-  /** \returns a normalized version of \c *this
-    * \sa normalize(), MatrixBase::normalized() */
-  inline Quaternion normalized() const { return Quaternion(m_coeffs.normalized()); }
-
-  /** \returns the dot product of \c *this and \a other
-    * Geometrically speaking, the dot product of two unit quaternions
-    * corresponds to the cosine of half the angle between the two rotations.
-    * \sa angularDistance()
-    */
-  inline Scalar eigen2_dot(const Quaternion& other) const { return m_coeffs.eigen2_dot(other.m_coeffs); }
-
-  inline Scalar angularDistance(const Quaternion& other) const;
-
-  Matrix3 toRotationMatrix(void) const;
-
-  template<typename Derived1, typename Derived2>
-  Quaternion& setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b);
-
-  inline Quaternion operator* (const Quaternion& q) const;
-  inline Quaternion& operator*= (const Quaternion& q);
-
-  Quaternion inverse(void) const;
-  Quaternion conjugate(void) const;
-
-  Quaternion slerp(Scalar t, const Quaternion& other) const;
-
-  template<typename Derived>
-  Vector3 operator* (const MatrixBase<Derived>& vec) const;
-
-  /** \returns \c *this with scalar type casted to \a NewScalarType
-    *
-    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
-    * then this function smartly returns a const reference to \c *this.
-    */
-  template<typename NewScalarType>
-  inline typename internal::cast_return_type<Quaternion,Quaternion<NewScalarType> >::type cast() const
-  { return typename internal::cast_return_type<Quaternion,Quaternion<NewScalarType> >::type(*this); }
-
-  /** Copy constructor with scalar type conversion */
-  template<typename OtherScalarType>
-  inline explicit Quaternion(const Quaternion<OtherScalarType>& other)
-  { m_coeffs = other.coeffs().template cast<Scalar>(); }
-
-  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
-    * determined by \a prec.
-    *
-    * \sa MatrixBase::isApprox() */
-  bool isApprox(const Quaternion& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
-  { return m_coeffs.isApprox(other.m_coeffs, prec); }
-
-protected:
-  Coefficients m_coeffs;
-};
-
-/** \ingroup Geometry_Module
-  * single precision quaternion type */
-typedef Quaternion<float> Quaternionf;
-/** \ingroup Geometry_Module
-  * double precision quaternion type */
-typedef Quaternion<double> Quaterniond;
-
-// Generic Quaternion * Quaternion product
-template<typename Scalar> inline Quaternion<Scalar>
-ei_quaternion_product(const Quaternion<Scalar>& a, const Quaternion<Scalar>& b)
-{
-  return Quaternion<Scalar>
-  (
-    a.w() * b.w() - a.x() * b.x() - a.y() * b.y() - a.z() * b.z(),
-    a.w() * b.x() + a.x() * b.w() + a.y() * b.z() - a.z() * b.y(),
-    a.w() * b.y() + a.y() * b.w() + a.z() * b.x() - a.x() * b.z(),
-    a.w() * b.z() + a.z() * b.w() + a.x() * b.y() - a.y() * b.x()
-  );
-}
-
-/** \returns the concatenation of two rotations as a quaternion-quaternion product */
-template <typename Scalar>
-inline Quaternion<Scalar> Quaternion<Scalar>::operator* (const Quaternion& other) const
-{
-  return ei_quaternion_product(*this,other);
-}
-
-/** \sa operator*(Quaternion) */
-template <typename Scalar>
-inline Quaternion<Scalar>& Quaternion<Scalar>::operator*= (const Quaternion& other)
-{
-  return (*this = *this * other);
-}
-
-/** Rotation of a vector by a quaternion.
-  * \remarks If the quaternion is used to rotate several points (>1)
-  * then it is much more efficient to first convert it to a 3x3 Matrix.
-  * Comparison of the operation cost for n transformations:
-  *   - Quaternion:    30n
-  *   - Via a Matrix3: 24 + 15n
-  */
-template <typename Scalar>
-template<typename Derived>
-inline typename Quaternion<Scalar>::Vector3
-Quaternion<Scalar>::operator* (const MatrixBase<Derived>& v) const
-{
-    // Note that this algorithm comes from the optimization by hand
-    // of the conversion to a Matrix followed by a Matrix/Vector product.
-    // It appears to be much faster than the common algorithm found
-    // in the litterature (30 versus 39 flops). It also requires two
-    // Vector3 as temporaries.
-    Vector3 uv;
-    uv = 2 * this->vec().cross(v);
-    return v + this->w() * uv + this->vec().cross(uv);
-}
-
-template<typename Scalar>
-inline Quaternion<Scalar>& Quaternion<Scalar>::operator=(const Quaternion& other)
-{
-  m_coeffs = other.m_coeffs;
-  return *this;
-}
-
-/** Set \c *this from an angle-axis \a aa and returns a reference to \c *this
-  */
-template<typename Scalar>
-inline Quaternion<Scalar>& Quaternion<Scalar>::operator=(const AngleAxisType& aa)
-{
-  Scalar ha = Scalar(0.5)*aa.angle(); // Scalar(0.5) to suppress precision loss warnings
-  this->w() = ei_cos(ha);
-  this->vec() = ei_sin(ha) * aa.axis();
-  return *this;
-}
-
-/** Set \c *this from the expression \a xpr:
-  *   - if \a xpr is a 4x1 vector, then \a xpr is assumed to be a quaternion
-  *   - if \a xpr is a 3x3 matrix, then \a xpr is assumed to be rotation matrix
-  *     and \a xpr is converted to a quaternion
-  */
-template<typename Scalar>
-template<typename Derived>
-inline Quaternion<Scalar>& Quaternion<Scalar>::operator=(const MatrixBase<Derived>& xpr)
-{
-  ei_quaternion_assign_impl<Derived>::run(*this, xpr.derived());
-  return *this;
-}
-
-/** Convert the quaternion to a 3x3 rotation matrix */
-template<typename Scalar>
-inline typename Quaternion<Scalar>::Matrix3
-Quaternion<Scalar>::toRotationMatrix(void) const
-{
-  // NOTE if inlined, then gcc 4.2 and 4.4 get rid of the temporary (not gcc 4.3 !!)
-  // if not inlined then the cost of the return by value is huge ~ +35%,
-  // however, not inlining this function is an order of magnitude slower, so
-  // it has to be inlined, and so the return by value is not an issue
-  Matrix3 res;
-
-  const Scalar tx  = Scalar(2)*this->x();
-  const Scalar ty  = Scalar(2)*this->y();
-  const Scalar tz  = Scalar(2)*this->z();
-  const Scalar twx = tx*this->w();
-  const Scalar twy = ty*this->w();
-  const Scalar twz = tz*this->w();
-  const Scalar txx = tx*this->x();
-  const Scalar txy = ty*this->x();
-  const Scalar txz = tz*this->x();
-  const Scalar tyy = ty*this->y();
-  const Scalar tyz = tz*this->y();
-  const Scalar tzz = tz*this->z();
-
-  res.coeffRef(0,0) = Scalar(1)-(tyy+tzz);
-  res.coeffRef(0,1) = txy-twz;
-  res.coeffRef(0,2) = txz+twy;
-  res.coeffRef(1,0) = txy+twz;
-  res.coeffRef(1,1) = Scalar(1)-(txx+tzz);
-  res.coeffRef(1,2) = tyz-twx;
-  res.coeffRef(2,0) = txz-twy;
-  res.coeffRef(2,1) = tyz+twx;
-  res.coeffRef(2,2) = Scalar(1)-(txx+tyy);
-
-  return res;
-}
-
-/** Sets *this to be a quaternion representing a rotation sending the vector \a a to the vector \a b.
-  *
-  * \returns a reference to *this.
-  *
-  * Note that the two input vectors do \b not have to be normalized.
-  */
-template<typename Scalar>
-template<typename Derived1, typename Derived2>
-inline Quaternion<Scalar>& Quaternion<Scalar>::setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b)
-{
-  Vector3 v0 = a.normalized();
-  Vector3 v1 = b.normalized();
-  Scalar c = v0.eigen2_dot(v1);
-
-  // if dot == 1, vectors are the same
-  if (ei_isApprox(c,Scalar(1)))
-  {
-    // set to identity
-    this->w() = 1; this->vec().setZero();
-    return *this;
-  }
-  // if dot == -1, vectors are opposites
-  if (ei_isApprox(c,Scalar(-1)))
-  {
-    this->vec() = v0.unitOrthogonal();
-    this->w() = 0;
-    return *this;
-  }
-
-  Vector3 axis = v0.cross(v1);
-  Scalar s = ei_sqrt((Scalar(1)+c)*Scalar(2));
-  Scalar invs = Scalar(1)/s;
-  this->vec() = axis * invs;
-  this->w() = s * Scalar(0.5);
-
-  return *this;
-}
-
-/** \returns the multiplicative inverse of \c *this
-  * Note that in most cases, i.e., if you simply want the opposite rotation,
-  * and/or the quaternion is normalized, then it is enough to use the conjugate.
-  *
-  * \sa Quaternion::conjugate()
-  */
-template <typename Scalar>
-inline Quaternion<Scalar> Quaternion<Scalar>::inverse() const
-{
-  // FIXME should this function be called multiplicativeInverse and conjugate() be called inverse() or opposite()  ??
-  Scalar n2 = this->squaredNorm();
-  if (n2 > 0)
-    return Quaternion(conjugate().coeffs() / n2);
-  else
-  {
-    // return an invalid result to flag the error
-    return Quaternion(Coefficients::Zero());
-  }
-}
-
-/** \returns the conjugate of the \c *this which is equal to the multiplicative inverse
-  * if the quaternion is normalized.
-  * The conjugate of a quaternion represents the opposite rotation.
-  *
-  * \sa Quaternion::inverse()
-  */
-template <typename Scalar>
-inline Quaternion<Scalar> Quaternion<Scalar>::conjugate() const
-{
-  return Quaternion(this->w(),-this->x(),-this->y(),-this->z());
-}
-
-/** \returns the angle (in radian) between two rotations
-  * \sa eigen2_dot()
-  */
-template <typename Scalar>
-inline Scalar Quaternion<Scalar>::angularDistance(const Quaternion& other) const
-{
-  double d = ei_abs(this->eigen2_dot(other));
-  if (d>=1.0)
-    return 0;
-  return Scalar(2) * std::acos(d);
-}
-
-/** \returns the spherical linear interpolation between the two quaternions
-  * \c *this and \a other at the parameter \a t
-  */
-template <typename Scalar>
-Quaternion<Scalar> Quaternion<Scalar>::slerp(Scalar t, const Quaternion& other) const
-{
-  static const Scalar one = Scalar(1) - machine_epsilon<Scalar>();
-  Scalar d = this->eigen2_dot(other);
-  Scalar absD = ei_abs(d);
-
-  Scalar scale0;
-  Scalar scale1;
-
-  if (absD>=one)
-  {
-    scale0 = Scalar(1) - t;
-    scale1 = t;
-  }
-  else
-  {
-    // theta is the angle between the 2 quaternions
-    Scalar theta = std::acos(absD);
-    Scalar sinTheta = ei_sin(theta);
-
-    scale0 = ei_sin( ( Scalar(1) - t ) * theta) / sinTheta;
-    scale1 = ei_sin( ( t * theta) ) / sinTheta;
-    if (d<0)
-      scale1 = -scale1;
-  }
-
-  return Quaternion<Scalar>(scale0 * coeffs() + scale1 * other.coeffs());
-}
-
-// set from a rotation matrix
-template<typename Other>
-struct ei_quaternion_assign_impl<Other,3,3>
-{
-  typedef typename Other::Scalar Scalar;
-  static inline void run(Quaternion<Scalar>& q, const Other& mat)
-  {
-    // This algorithm comes from  "Quaternion Calculus and Fast Animation",
-    // Ken Shoemake, 1987 SIGGRAPH course notes
-    Scalar t = mat.trace();
-    if (t > 0)
-    {
-      t = ei_sqrt(t + Scalar(1.0));
-      q.w() = Scalar(0.5)*t;
-      t = Scalar(0.5)/t;
-      q.x() = (mat.coeff(2,1) - mat.coeff(1,2)) * t;
-      q.y() = (mat.coeff(0,2) - mat.coeff(2,0)) * t;
-      q.z() = (mat.coeff(1,0) - mat.coeff(0,1)) * t;
-    }
-    else
-    {
-      int i = 0;
-      if (mat.coeff(1,1) > mat.coeff(0,0))
-        i = 1;
-      if (mat.coeff(2,2) > mat.coeff(i,i))
-        i = 2;
-      int j = (i+1)%3;
-      int k = (j+1)%3;
-
-      t = ei_sqrt(mat.coeff(i,i)-mat.coeff(j,j)-mat.coeff(k,k) + Scalar(1.0));
-      q.coeffs().coeffRef(i) = Scalar(0.5) * t;
-      t = Scalar(0.5)/t;
-      q.w() = (mat.coeff(k,j)-mat.coeff(j,k))*t;
-      q.coeffs().coeffRef(j) = (mat.coeff(j,i)+mat.coeff(i,j))*t;
-      q.coeffs().coeffRef(k) = (mat.coeff(k,i)+mat.coeff(i,k))*t;
-    }
-  }
-};
-
-// set from a vector of coefficients assumed to be a quaternion
-template<typename Other>
-struct ei_quaternion_assign_impl<Other,4,1>
-{
-  typedef typename Other::Scalar Scalar;
-  static inline void run(Quaternion<Scalar>& q, const Other& vec)
-  {
-    q.coeffs() = vec;
-  }
-};
-
-} // end namespace Eigen
diff --git a/Eigen/src/Eigen2Support/Geometry/Rotation2D.h b/Eigen/src/Eigen2Support/Geometry/Rotation2D.h
deleted file mode 100644
index 19b8582a1..000000000
--- a/Eigen/src/Eigen2Support/Geometry/Rotation2D.h
+++ /dev/null
@@ -1,145 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. 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
-
-namespace Eigen { 
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \class Rotation2D
-  *
-  * \brief Represents a rotation/orientation in a 2 dimensional space.
-  *
-  * \param _Scalar the scalar type, i.e., the type of the coefficients
-  *
-  * This class is equivalent to a single scalar representing a counter clock wise rotation
-  * as a single angle in radian. It provides some additional features such as the automatic
-  * conversion from/to a 2x2 rotation matrix. Moreover this class aims to provide a similar
-  * interface to Quaternion in order to facilitate the writing of generic algorithms
-  * dealing with rotations.
-  *
-  * \sa class Quaternion, class Transform
-  */
-template<typename _Scalar> struct ei_traits<Rotation2D<_Scalar> >
-{
-  typedef _Scalar Scalar;
-};
-
-template<typename _Scalar>
-class Rotation2D : public RotationBase<Rotation2D<_Scalar>,2>
-{
-  typedef RotationBase<Rotation2D<_Scalar>,2> Base;
-
-public:
-
-  using Base::operator*;
-
-  enum { Dim = 2 };
-  /** the scalar type of the coefficients */
-  typedef _Scalar Scalar;
-  typedef Matrix<Scalar,2,1> Vector2;
-  typedef Matrix<Scalar,2,2> Matrix2;
-
-protected:
-
-  Scalar m_angle;
-
-public:
-
-  /** Construct a 2D counter clock wise rotation from the angle \a a in radian. */
-  inline Rotation2D(Scalar a) : m_angle(a) {}
-
-  /** \returns the rotation angle */
-  inline Scalar angle() const { return m_angle; }
-
-  /** \returns a read-write reference to the rotation angle */
-  inline Scalar& angle() { return m_angle; }
-
-  /** \returns the inverse rotation */
-  inline Rotation2D inverse() const { return -m_angle; }
-
-  /** Concatenates two rotations */
-  inline Rotation2D operator*(const Rotation2D& other) const
-  { return m_angle + other.m_angle; }
-
-  /** Concatenates two rotations */
-  inline Rotation2D& operator*=(const Rotation2D& other)
-  { return m_angle += other.m_angle; return *this; }
-
-  /** Applies the rotation to a 2D vector */
-  Vector2 operator* (const Vector2& vec) const
-  { return toRotationMatrix() * vec; }
-
-  template<typename Derived>
-  Rotation2D& fromRotationMatrix(const MatrixBase<Derived>& m);
-  Matrix2 toRotationMatrix(void) const;
-
-  /** \returns the spherical interpolation between \c *this and \a other using
-    * parameter \a t. It is in fact equivalent to a linear interpolation.
-    */
-  inline Rotation2D slerp(Scalar t, const Rotation2D& other) const
-  { return m_angle * (1-t) + other.angle() * t; }
-
-  /** \returns \c *this with scalar type casted to \a NewScalarType
-    *
-    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
-    * then this function smartly returns a const reference to \c *this.
-    */
-  template<typename NewScalarType>
-  inline typename internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type cast() const
-  { return typename internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type(*this); }
-
-  /** Copy constructor with scalar type conversion */
-  template<typename OtherScalarType>
-  inline explicit Rotation2D(const Rotation2D<OtherScalarType>& other)
-  {
-    m_angle = Scalar(other.angle());
-  }
-
-  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
-    * determined by \a prec.
-    *
-    * \sa MatrixBase::isApprox() */
-  bool isApprox(const Rotation2D& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
-  { return ei_isApprox(m_angle,other.m_angle, prec); }
-};
-
-/** \ingroup Geometry_Module
-  * single precision 2D rotation type */
-typedef Rotation2D<float> Rotation2Df;
-/** \ingroup Geometry_Module
-  * double precision 2D rotation type */
-typedef Rotation2D<double> Rotation2Dd;
-
-/** Set \c *this from a 2x2 rotation matrix \a mat.
-  * In other words, this function extract the rotation angle
-  * from the rotation matrix.
-  */
-template<typename Scalar>
-template<typename Derived>
-Rotation2D<Scalar>& Rotation2D<Scalar>::fromRotationMatrix(const MatrixBase<Derived>& mat)
-{
-  EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime==2 && Derived::ColsAtCompileTime==2,YOU_MADE_A_PROGRAMMING_MISTAKE)
-  m_angle = ei_atan2(mat.coeff(1,0), mat.coeff(0,0));
-  return *this;
-}
-
-/** Constructs and \returns an equivalent 2x2 rotation matrix.
-  */
-template<typename Scalar>
-typename Rotation2D<Scalar>::Matrix2
-Rotation2D<Scalar>::toRotationMatrix(void) const
-{
-  Scalar sinA = ei_sin(m_angle);
-  Scalar cosA = ei_cos(m_angle);
-  return (Matrix2() << cosA, -sinA, sinA, cosA).finished();
-}
-
-} // end namespace Eigen
diff --git a/Eigen/src/Eigen2Support/Geometry/RotationBase.h b/Eigen/src/Eigen2Support/Geometry/RotationBase.h
deleted file mode 100644
index b1c8f38da..000000000
--- a/Eigen/src/Eigen2Support/Geometry/RotationBase.h
+++ /dev/null
@@ -1,123 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. 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
-
-namespace Eigen { 
-
-// this file aims to contains the various representations of rotation/orientation
-// in 2D and 3D space excepted Matrix and Quaternion.
-
-/** \class RotationBase
-  *
-  * \brief Common base class for compact rotation representations
-  *
-  * \param Derived is the derived type, i.e., a rotation type
-  * \param _Dim the dimension of the space
-  */
-template<typename Derived, int _Dim>
-class RotationBase
-{
-  public:
-    enum { Dim = _Dim };
-    /** the scalar type of the coefficients */
-    typedef typename ei_traits<Derived>::Scalar Scalar;
-    
-    /** corresponding linear transformation matrix type */
-    typedef Matrix<Scalar,Dim,Dim> RotationMatrixType;
-
-    inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
-    inline Derived& derived() { return *static_cast<Derived*>(this); }
-
-    /** \returns an equivalent rotation matrix */
-    inline RotationMatrixType toRotationMatrix() const { return derived().toRotationMatrix(); }
-
-    /** \returns the inverse rotation */
-    inline Derived inverse() const { return derived().inverse(); }
-
-    /** \returns the concatenation of the rotation \c *this with a translation \a t */
-    inline Transform<Scalar,Dim> operator*(const Translation<Scalar,Dim>& t) const
-    { return toRotationMatrix() * t; }
-
-    /** \returns the concatenation of the rotation \c *this with a scaling \a s */
-    inline RotationMatrixType operator*(const Scaling<Scalar,Dim>& s) const
-    { return toRotationMatrix() * s; }
-
-    /** \returns the concatenation of the rotation \c *this with an affine transformation \a t */
-    inline Transform<Scalar,Dim> operator*(const Transform<Scalar,Dim>& t) const
-    { return toRotationMatrix() * t; }
-};
-
-/** \geometry_module
-  *
-  * Constructs a Dim x Dim rotation matrix from the rotation \a r
-  */
-template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols>
-template<typename OtherDerived>
-Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
-::Matrix(const RotationBase<OtherDerived,ColsAtCompileTime>& r)
-{
-  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim))
-  *this = r.toRotationMatrix();
-}
-
-/** \geometry_module
-  *
-  * Set a Dim x Dim rotation matrix from the rotation \a r
-  */
-template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols>
-template<typename OtherDerived>
-Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>&
-Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
-::operator=(const RotationBase<OtherDerived,ColsAtCompileTime>& r)
-{
-  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim))
-  return *this = r.toRotationMatrix();
-}
-
-/** \internal
-  *
-  * Helper function to return an arbitrary rotation object to a rotation matrix.
-  *
-  * \param Scalar the numeric type of the matrix coefficients
-  * \param Dim the dimension of the current space
-  *
-  * It returns a Dim x Dim fixed size matrix.
-  *
-  * Default specializations are provided for:
-  *   - any scalar type (2D),
-  *   - any matrix expression,
-  *   - any type based on RotationBase (e.g., Quaternion, AngleAxis, Rotation2D)
-  *
-  * Currently ei_toRotationMatrix is only used by Transform.
-  *
-  * \sa class Transform, class Rotation2D, class Quaternion, class AngleAxis
-  */
-template<typename Scalar, int Dim>
-static inline Matrix<Scalar,2,2> ei_toRotationMatrix(const Scalar& s)
-{
-  EIGEN_STATIC_ASSERT(Dim==2,YOU_MADE_A_PROGRAMMING_MISTAKE)
-  return Rotation2D<Scalar>(s).toRotationMatrix();
-}
-
-template<typename Scalar, int Dim, typename OtherDerived>
-static inline Matrix<Scalar,Dim,Dim> ei_toRotationMatrix(const RotationBase<OtherDerived,Dim>& r)
-{
-  return r.toRotationMatrix();
-}
-
-template<typename Scalar, int Dim, typename OtherDerived>
-static inline const MatrixBase<OtherDerived>& ei_toRotationMatrix(const MatrixBase<OtherDerived>& mat)
-{
-  EIGEN_STATIC_ASSERT(OtherDerived::RowsAtCompileTime==Dim && OtherDerived::ColsAtCompileTime==Dim,
-    YOU_MADE_A_PROGRAMMING_MISTAKE)
-  return mat;
-}
-
-} // end namespace Eigen
diff --git a/Eigen/src/Eigen2Support/Geometry/Scaling.h b/Eigen/src/Eigen2Support/Geometry/Scaling.h
deleted file mode 100644
index b8fa6cd3f..000000000
--- a/Eigen/src/Eigen2Support/Geometry/Scaling.h
+++ /dev/null
@@ -1,167 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. 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
-
-namespace Eigen { 
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \class Scaling
-  *
-  * \brief Represents a possibly non uniform scaling transformation
-  *
-  * \param _Scalar the scalar type, i.e., the type of the coefficients.
-  * \param _Dim the  dimension of the space, can be a compile time value or Dynamic
-  *
-  * \note This class is not aimed to be used to store a scaling transformation,
-  * but rather to make easier the constructions and updates of Transform objects.
-  *
-  * \sa class Translation, class Transform
-  */
-template<typename _Scalar, int _Dim>
-class Scaling
-{
-public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Dim)
-  /** dimension of the space */
-  enum { Dim = _Dim };
-  /** the scalar type of the coefficients */
-  typedef _Scalar Scalar;
-  /** corresponding vector type */
-  typedef Matrix<Scalar,Dim,1> VectorType;
-  /** corresponding linear transformation matrix type */
-  typedef Matrix<Scalar,Dim,Dim> LinearMatrixType;
-  /** corresponding translation type */
-  typedef Translation<Scalar,Dim> TranslationType;
-  /** corresponding affine transformation type */
-  typedef Transform<Scalar,Dim> TransformType;
-
-protected:
-
-  VectorType m_coeffs;
-
-public:
-
-  /** Default constructor without initialization. */
-  Scaling() {}
-  /** Constructs and initialize a uniform scaling transformation */
-  explicit inline Scaling(const Scalar& s) { m_coeffs.setConstant(s); }
-  /** 2D only */
-  inline Scaling(const Scalar& sx, const Scalar& sy)
-  {
-    ei_assert(Dim==2);
-    m_coeffs.x() = sx;
-    m_coeffs.y() = sy;
-  }
-  /** 3D only */
-  inline Scaling(const Scalar& sx, const Scalar& sy, const Scalar& sz)
-  {
-    ei_assert(Dim==3);
-    m_coeffs.x() = sx;
-    m_coeffs.y() = sy;
-    m_coeffs.z() = sz;
-  }
-  /** Constructs and initialize the scaling transformation from a vector of scaling coefficients */
-  explicit inline Scaling(const VectorType& coeffs) : m_coeffs(coeffs) {}
-
-  const VectorType& coeffs() const { return m_coeffs; }
-  VectorType& coeffs() { return m_coeffs; }
-
-  /** Concatenates two scaling */
-  inline Scaling operator* (const Scaling& other) const
-  { return Scaling(coeffs().cwise() * other.coeffs()); }
-
-  /** Concatenates a scaling and a translation */
-  inline TransformType operator* (const TranslationType& t) const;
-
-  /** Concatenates a scaling and an affine transformation */
-  inline TransformType operator* (const TransformType& t) const;
-
-  /** Concatenates a scaling and a linear transformation matrix */
-  // TODO returns an expression
-  inline LinearMatrixType operator* (const LinearMatrixType& other) const
-  { return coeffs().asDiagonal() * other; }
-
-  /** Concatenates a linear transformation matrix and a scaling */
-  // TODO returns an expression
-  friend inline LinearMatrixType operator* (const LinearMatrixType& other, const Scaling& s)
-  { return other * s.coeffs().asDiagonal(); }
-
-  template<typename Derived>
-  inline LinearMatrixType operator*(const RotationBase<Derived,Dim>& r) const
-  { return *this * r.toRotationMatrix(); }
-
-  /** Applies scaling to vector */
-  inline VectorType operator* (const VectorType& other) const
-  { return coeffs().asDiagonal() * other; }
-
-  /** \returns the inverse scaling */
-  inline Scaling inverse() const
-  { return Scaling(coeffs().cwise().inverse()); }
-
-  inline Scaling& operator=(const Scaling& other)
-  {
-    m_coeffs = other.m_coeffs;
-    return *this;
-  }
-
-  /** \returns \c *this with scalar type casted to \a NewScalarType
-    *
-    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
-    * then this function smartly returns a const reference to \c *this.
-    */
-  template<typename NewScalarType>
-  inline typename internal::cast_return_type<Scaling,Scaling<NewScalarType,Dim> >::type cast() const
-  { return typename internal::cast_return_type<Scaling,Scaling<NewScalarType,Dim> >::type(*this); }
-
-  /** Copy constructor with scalar type conversion */
-  template<typename OtherScalarType>
-  inline explicit Scaling(const Scaling<OtherScalarType,Dim>& other)
-  { m_coeffs = other.coeffs().template cast<Scalar>(); }
-
-  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
-    * determined by \a prec.
-    *
-    * \sa MatrixBase::isApprox() */
-  bool isApprox(const Scaling& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
-  { return m_coeffs.isApprox(other.m_coeffs, prec); }
-
-};
-
-/** \addtogroup Geometry_Module */
-//@{
-typedef Scaling<float, 2> Scaling2f;
-typedef Scaling<double,2> Scaling2d;
-typedef Scaling<float, 3> Scaling3f;
-typedef Scaling<double,3> Scaling3d;
-//@}
-
-template<typename Scalar, int Dim>
-inline typename Scaling<Scalar,Dim>::TransformType
-Scaling<Scalar,Dim>::operator* (const TranslationType& t) const
-{
-  TransformType res;
-  res.matrix().setZero();
-  res.linear().diagonal() = coeffs();
-  res.translation() = m_coeffs.cwise() * t.vector();
-  res(Dim,Dim) = Scalar(1);
-  return res;
-}
-
-template<typename Scalar, int Dim>
-inline typename Scaling<Scalar,Dim>::TransformType
-Scaling<Scalar,Dim>::operator* (const TransformType& t) const
-{
-  TransformType res = t;
-  res.prescale(m_coeffs);
-  return res;
-}
-
-} // end namespace Eigen
diff --git a/Eigen/src/Eigen2Support/Geometry/Transform.h b/Eigen/src/Eigen2Support/Geometry/Transform.h
deleted file mode 100644
index fab60b251..000000000
--- a/Eigen/src/Eigen2Support/Geometry/Transform.h
+++ /dev/null
@@ -1,786 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
-
-namespace Eigen { 
-
-// Note that we have to pass Dim and HDim because it is not allowed to use a template
-// parameter to define a template specialization. To be more precise, in the following
-// specializations, it is not allowed to use Dim+1 instead of HDim.
-template< typename Other,
-          int Dim,
-          int HDim,
-          int OtherRows=Other::RowsAtCompileTime,
-          int OtherCols=Other::ColsAtCompileTime>
-struct ei_transform_product_impl;
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \class Transform
-  *
-  * \brief Represents an homogeneous transformation in a N dimensional space
-  *
-  * \param _Scalar the scalar type, i.e., the type of the coefficients
-  * \param _Dim the dimension of the space
-  *
-  * The homography is internally represented and stored as a (Dim+1)^2 matrix which
-  * is available through the matrix() method.
-  *
-  * Conversion methods from/to Qt's QMatrix and QTransform are available if the
-  * preprocessor token EIGEN_QT_SUPPORT is defined.
-  *
-  * \sa class Matrix, class Quaternion
-  */
-template<typename _Scalar, int _Dim>
-class Transform
-{
-public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Dim==Dynamic ? Dynamic : (_Dim+1)*(_Dim+1))
-  enum {
-    Dim = _Dim,     ///< space dimension in which the transformation holds
-    HDim = _Dim+1   ///< size of a respective homogeneous vector
-  };
-  /** the scalar type of the coefficients */
-  typedef _Scalar Scalar;
-  /** type of the matrix used to represent the transformation */
-  typedef Matrix<Scalar,HDim,HDim> MatrixType;
-  /** type of the matrix used to represent the linear part of the transformation */
-  typedef Matrix<Scalar,Dim,Dim> LinearMatrixType;
-  /** type of read/write reference to the linear part of the transformation */
-  typedef Block<MatrixType,Dim,Dim> LinearPart;
-  /** type of read/write reference to the linear part of the transformation */
-  typedef const Block<const MatrixType,Dim,Dim> ConstLinearPart;
-  /** type of a vector */
-  typedef Matrix<Scalar,Dim,1> VectorType;
-  /** type of a read/write reference to the translation part of the rotation */
-  typedef Block<MatrixType,Dim,1> TranslationPart;
-  /** type of a read/write reference to the translation part of the rotation */
-  typedef const Block<const MatrixType,Dim,1> ConstTranslationPart;
-  /** corresponding translation type */
-  typedef Translation<Scalar,Dim> TranslationType;
-  /** corresponding scaling transformation type */
-  typedef Scaling<Scalar,Dim> ScalingType;
-
-protected:
-
-  MatrixType m_matrix;
-
-public:
-
-  /** Default constructor without initialization of the coefficients. */
-  inline Transform() { }
-
-  inline Transform(const Transform& other)
-  {
-    m_matrix = other.m_matrix;
-  }
-
-  inline explicit Transform(const TranslationType& t) { *this = t; }
-  inline explicit Transform(const ScalingType& s) { *this = s; }
-  template<typename Derived>
-  inline explicit Transform(const RotationBase<Derived, Dim>& r) { *this = r; }
-
-  inline Transform& operator=(const Transform& other)
-  { m_matrix = other.m_matrix; return *this; }
-
-  template<typename OtherDerived, bool BigMatrix> // MSVC 2005 will commit suicide if BigMatrix has a default value
-  struct construct_from_matrix
-  {
-    static inline void run(Transform *transform, const MatrixBase<OtherDerived>& other)
-    {
-      transform->matrix() = other;
-    }
-  };
-
-  template<typename OtherDerived> struct construct_from_matrix<OtherDerived, true>
-  {
-    static inline void run(Transform *transform, const MatrixBase<OtherDerived>& other)
-    {
-      transform->linear() = other;
-      transform->translation().setZero();
-      transform->matrix()(Dim,Dim) = Scalar(1);
-      transform->matrix().template block<1,Dim>(Dim,0).setZero();
-    }
-  };
-
-  /** Constructs and initializes a transformation from a Dim^2 or a (Dim+1)^2 matrix. */
-  template<typename OtherDerived>
-  inline explicit Transform(const MatrixBase<OtherDerived>& other)
-  {
-    construct_from_matrix<OtherDerived, int(OtherDerived::RowsAtCompileTime) == Dim>::run(this, other);
-  }
-
-  /** Set \c *this from a (Dim+1)^2 matrix. */
-  template<typename OtherDerived>
-  inline Transform& operator=(const MatrixBase<OtherDerived>& other)
-  { m_matrix = other; return *this; }
-
-  #ifdef EIGEN_QT_SUPPORT
-  inline Transform(const QMatrix& other);
-  inline Transform& operator=(const QMatrix& other);
-  inline QMatrix toQMatrix(void) const;
-  inline Transform(const QTransform& other);
-  inline Transform& operator=(const QTransform& other);
-  inline QTransform toQTransform(void) const;
-  #endif
-
-  /** shortcut for m_matrix(row,col);
-    * \sa MatrixBase::operaror(int,int) const */
-  inline Scalar operator() (int row, int col) const { return m_matrix(row,col); }
-  /** shortcut for m_matrix(row,col);
-    * \sa MatrixBase::operaror(int,int) */
-  inline Scalar& operator() (int row, int col) { return m_matrix(row,col); }
-
-  /** \returns a read-only expression of the transformation matrix */
-  inline const MatrixType& matrix() const { return m_matrix; }
-  /** \returns a writable expression of the transformation matrix */
-  inline MatrixType& matrix() { return m_matrix; }
-
-  /** \returns a read-only expression of the linear (linear) part of the transformation */
-  inline ConstLinearPart linear() const { return m_matrix.template block<Dim,Dim>(0,0); }
-  /** \returns a writable expression of the linear (linear) part of the transformation */
-  inline LinearPart linear() { return m_matrix.template block<Dim,Dim>(0,0); }
-
-  /** \returns a read-only expression of the translation vector of the transformation */
-  inline ConstTranslationPart translation() const { return m_matrix.template block<Dim,1>(0,Dim); }
-  /** \returns a writable expression of the translation vector of the transformation */
-  inline TranslationPart translation() { return m_matrix.template block<Dim,1>(0,Dim); }
-
-  /** \returns an expression of the product between the transform \c *this and a matrix expression \a other
-  *
-  * The right hand side \a other might be either:
-  * \li a vector of size Dim,
-  * \li an homogeneous vector of size Dim+1,
-  * \li a transformation matrix of size Dim+1 x Dim+1.
-  */
-  // note: this function is defined here because some compilers cannot find the respective declaration
-  template<typename OtherDerived>
-  inline const typename ei_transform_product_impl<OtherDerived,_Dim,_Dim+1>::ResultType
-  operator * (const MatrixBase<OtherDerived> &other) const
-  { return ei_transform_product_impl<OtherDerived,Dim,HDim>::run(*this,other.derived()); }
-
-  /** \returns the product expression of a transformation matrix \a a times a transform \a b
-    * The transformation matrix \a a must have a Dim+1 x Dim+1 sizes. */
-  template<typename OtherDerived>
-  friend inline const typename ProductReturnType<OtherDerived,MatrixType>::Type
-  operator * (const MatrixBase<OtherDerived> &a, const Transform &b)
-  { return a.derived() * b.matrix(); }
-
-  /** Contatenates two transformations */
-  inline const Transform
-  operator * (const Transform& other) const
-  { return Transform(m_matrix * other.matrix()); }
-
-  /** \sa MatrixBase::setIdentity() */
-  void setIdentity() { m_matrix.setIdentity(); }
-  static const typename MatrixType::IdentityReturnType Identity()
-  {
-    return MatrixType::Identity();
-  }
-
-  template<typename OtherDerived>
-  inline Transform& scale(const MatrixBase<OtherDerived> &other);
-
-  template<typename OtherDerived>
-  inline Transform& prescale(const MatrixBase<OtherDerived> &other);
-
-  inline Transform& scale(Scalar s);
-  inline Transform& prescale(Scalar s);
-
-  template<typename OtherDerived>
-  inline Transform& translate(const MatrixBase<OtherDerived> &other);
-
-  template<typename OtherDerived>
-  inline Transform& pretranslate(const MatrixBase<OtherDerived> &other);
-
-  template<typename RotationType>
-  inline Transform& rotate(const RotationType& rotation);
-
-  template<typename RotationType>
-  inline Transform& prerotate(const RotationType& rotation);
-
-  Transform& shear(Scalar sx, Scalar sy);
-  Transform& preshear(Scalar sx, Scalar sy);
-
-  inline Transform& operator=(const TranslationType& t);
-  inline Transform& operator*=(const TranslationType& t) { return translate(t.vector()); }
-  inline Transform operator*(const TranslationType& t) const;
-
-  inline Transform& operator=(const ScalingType& t);
-  inline Transform& operator*=(const ScalingType& s) { return scale(s.coeffs()); }
-  inline Transform operator*(const ScalingType& s) const;
-  friend inline Transform operator*(const LinearMatrixType& mat, const Transform& t)
-  {
-    Transform res = t;
-    res.matrix().row(Dim) = t.matrix().row(Dim);
-    res.matrix().template block<Dim,HDim>(0,0) = (mat * t.matrix().template block<Dim,HDim>(0,0)).lazy();
-    return res;
-  }
-
-  template<typename Derived>
-  inline Transform& operator=(const RotationBase<Derived,Dim>& r);
-  template<typename Derived>
-  inline Transform& operator*=(const RotationBase<Derived,Dim>& r) { return rotate(r.toRotationMatrix()); }
-  template<typename Derived>
-  inline Transform operator*(const RotationBase<Derived,Dim>& r) const;
-
-  LinearMatrixType rotation() const;
-  template<typename RotationMatrixType, typename ScalingMatrixType>
-  void computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const;
-  template<typename ScalingMatrixType, typename RotationMatrixType>
-  void computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const;
-
-  template<typename PositionDerived, typename OrientationType, typename ScaleDerived>
-  Transform& fromPositionOrientationScale(const MatrixBase<PositionDerived> &position,
-    const OrientationType& orientation, const MatrixBase<ScaleDerived> &scale);
-
-  inline const MatrixType inverse(TransformTraits traits = Affine) const;
-
-  /** \returns a const pointer to the column major internal matrix */
-  const Scalar* data() const { return m_matrix.data(); }
-  /** \returns a non-const pointer to the column major internal matrix */
-  Scalar* data() { return m_matrix.data(); }
-
-  /** \returns \c *this with scalar type casted to \a NewScalarType
-    *
-    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
-    * then this function smartly returns a const reference to \c *this.
-    */
-  template<typename NewScalarType>
-  inline typename internal::cast_return_type<Transform,Transform<NewScalarType,Dim> >::type cast() const
-  { return typename internal::cast_return_type<Transform,Transform<NewScalarType,Dim> >::type(*this); }
-
-  /** Copy constructor with scalar type conversion */
-  template<typename OtherScalarType>
-  inline explicit Transform(const Transform<OtherScalarType,Dim>& other)
-  { m_matrix = other.matrix().template cast<Scalar>(); }
-
-  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
-    * determined by \a prec.
-    *
-    * \sa MatrixBase::isApprox() */
-  bool isApprox(const Transform& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
-  { return m_matrix.isApprox(other.m_matrix, prec); }
-
-  #ifdef EIGEN_TRANSFORM_PLUGIN
-  #include EIGEN_TRANSFORM_PLUGIN
-  #endif
-
-protected:
-
-};
-
-/** \ingroup Geometry_Module */
-typedef Transform<float,2> Transform2f;
-/** \ingroup Geometry_Module */
-typedef Transform<float,3> Transform3f;
-/** \ingroup Geometry_Module */
-typedef Transform<double,2> Transform2d;
-/** \ingroup Geometry_Module */
-typedef Transform<double,3> Transform3d;
-
-/**************************
-*** Optional QT support ***
-**************************/
-
-#ifdef EIGEN_QT_SUPPORT
-/** Initialises \c *this from a QMatrix assuming the dimension is 2.
-  *
-  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
-  */
-template<typename Scalar, int Dim>
-Transform<Scalar,Dim>::Transform(const QMatrix& other)
-{
-  *this = other;
-}
-
-/** Set \c *this from a QMatrix assuming the dimension is 2.
-  *
-  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
-  */
-template<typename Scalar, int Dim>
-Transform<Scalar,Dim>& Transform<Scalar,Dim>::operator=(const QMatrix& other)
-{
-  EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
-  m_matrix << other.m11(), other.m21(), other.dx(),
-              other.m12(), other.m22(), other.dy(),
-              0, 0, 1;
-   return *this;
-}
-
-/** \returns a QMatrix from \c *this assuming the dimension is 2.
-  *
-  * \warning this convertion might loss data if \c *this is not affine
-  *
-  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
-  */
-template<typename Scalar, int Dim>
-QMatrix Transform<Scalar,Dim>::toQMatrix(void) const
-{
-  EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
-  return QMatrix(m_matrix.coeff(0,0), m_matrix.coeff(1,0),
-                 m_matrix.coeff(0,1), m_matrix.coeff(1,1),
-                 m_matrix.coeff(0,2), m_matrix.coeff(1,2));
-}
-
-/** Initialises \c *this from a QTransform assuming the dimension is 2.
-  *
-  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
-  */
-template<typename Scalar, int Dim>
-Transform<Scalar,Dim>::Transform(const QTransform& other)
-{
-  *this = other;
-}
-
-/** Set \c *this from a QTransform assuming the dimension is 2.
-  *
-  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
-  */
-template<typename Scalar, int Dim>
-Transform<Scalar,Dim>& Transform<Scalar,Dim>::operator=(const QTransform& other)
-{
-  EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
-  m_matrix << other.m11(), other.m21(), other.dx(),
-              other.m12(), other.m22(), other.dy(),
-              other.m13(), other.m23(), other.m33();
-   return *this;
-}
-
-/** \returns a QTransform from \c *this assuming the dimension is 2.
-  *
-  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
-  */
-template<typename Scalar, int Dim>
-QTransform Transform<Scalar,Dim>::toQTransform(void) const
-{
-  EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
-  return QTransform(m_matrix.coeff(0,0), m_matrix.coeff(1,0), m_matrix.coeff(2,0),
-                    m_matrix.coeff(0,1), m_matrix.coeff(1,1), m_matrix.coeff(2,1),
-                    m_matrix.coeff(0,2), m_matrix.coeff(1,2), m_matrix.coeff(2,2));
-}
-#endif
-
-/*********************
-*** Procedural API ***
-*********************/
-
-/** Applies on the right the non uniform scale transformation represented
-  * by the vector \a other to \c *this and returns a reference to \c *this.
-  * \sa prescale()
-  */
-template<typename Scalar, int Dim>
-template<typename OtherDerived>
-Transform<Scalar,Dim>&
-Transform<Scalar,Dim>::scale(const MatrixBase<OtherDerived> &other)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
-  linear() = (linear() * other.asDiagonal()).lazy();
-  return *this;
-}
-
-/** Applies on the right a uniform scale of a factor \a c to \c *this
-  * and returns a reference to \c *this.
-  * \sa prescale(Scalar)
-  */
-template<typename Scalar, int Dim>
-inline Transform<Scalar,Dim>& Transform<Scalar,Dim>::scale(Scalar s)
-{
-  linear() *= s;
-  return *this;
-}
-
-/** Applies on the left the non uniform scale transformation represented
-  * by the vector \a other to \c *this and returns a reference to \c *this.
-  * \sa scale()
-  */
-template<typename Scalar, int Dim>
-template<typename OtherDerived>
-Transform<Scalar,Dim>&
-Transform<Scalar,Dim>::prescale(const MatrixBase<OtherDerived> &other)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
-  m_matrix.template block<Dim,HDim>(0,0) = (other.asDiagonal() * m_matrix.template block<Dim,HDim>(0,0)).lazy();
-  return *this;
-}
-
-/** Applies on the left a uniform scale of a factor \a c to \c *this
-  * and returns a reference to \c *this.
-  * \sa scale(Scalar)
-  */
-template<typename Scalar, int Dim>
-inline Transform<Scalar,Dim>& Transform<Scalar,Dim>::prescale(Scalar s)
-{
-  m_matrix.template corner<Dim,HDim>(TopLeft) *= s;
-  return *this;
-}
-
-/** Applies on the right the translation matrix represented by the vector \a other
-  * to \c *this and returns a reference to \c *this.
-  * \sa pretranslate()
-  */
-template<typename Scalar, int Dim>
-template<typename OtherDerived>
-Transform<Scalar,Dim>&
-Transform<Scalar,Dim>::translate(const MatrixBase<OtherDerived> &other)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
-  translation() += linear() * other;
-  return *this;
-}
-
-/** Applies on the left the translation matrix represented by the vector \a other
-  * to \c *this and returns a reference to \c *this.
-  * \sa translate()
-  */
-template<typename Scalar, int Dim>
-template<typename OtherDerived>
-Transform<Scalar,Dim>&
-Transform<Scalar,Dim>::pretranslate(const MatrixBase<OtherDerived> &other)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
-  translation() += other;
-  return *this;
-}
-
-/** Applies on the right the rotation represented by the rotation \a rotation
-  * to \c *this and returns a reference to \c *this.
-  *
-  * The template parameter \a RotationType is the type of the rotation which
-  * must be known by ei_toRotationMatrix<>.
-  *
-  * Natively supported types includes:
-  *   - any scalar (2D),
-  *   - a Dim x Dim matrix expression,
-  *   - a Quaternion (3D),
-  *   - a AngleAxis (3D)
-  *
-  * This mechanism is easily extendable to support user types such as Euler angles,
-  * or a pair of Quaternion for 4D rotations.
-  *
-  * \sa rotate(Scalar), class Quaternion, class AngleAxis, prerotate(RotationType)
-  */
-template<typename Scalar, int Dim>
-template<typename RotationType>
-Transform<Scalar,Dim>&
-Transform<Scalar,Dim>::rotate(const RotationType& rotation)
-{
-  linear() *= ei_toRotationMatrix<Scalar,Dim>(rotation);
-  return *this;
-}
-
-/** Applies on the left the rotation represented by the rotation \a rotation
-  * to \c *this and returns a reference to \c *this.
-  *
-  * See rotate() for further details.
-  *
-  * \sa rotate()
-  */
-template<typename Scalar, int Dim>
-template<typename RotationType>
-Transform<Scalar,Dim>&
-Transform<Scalar,Dim>::prerotate(const RotationType& rotation)
-{
-  m_matrix.template block<Dim,HDim>(0,0) = ei_toRotationMatrix<Scalar,Dim>(rotation)
-                                         * m_matrix.template block<Dim,HDim>(0,0);
-  return *this;
-}
-
-/** Applies on the right the shear transformation represented
-  * by the vector \a other to \c *this and returns a reference to \c *this.
-  * \warning 2D only.
-  * \sa preshear()
-  */
-template<typename Scalar, int Dim>
-Transform<Scalar,Dim>&
-Transform<Scalar,Dim>::shear(Scalar sx, Scalar sy)
-{
-  EIGEN_STATIC_ASSERT(int(Dim)==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
-  VectorType tmp = linear().col(0)*sy + linear().col(1);
-  linear() << linear().col(0) + linear().col(1)*sx, tmp;
-  return *this;
-}
-
-/** Applies on the left the shear transformation represented
-  * by the vector \a other to \c *this and returns a reference to \c *this.
-  * \warning 2D only.
-  * \sa shear()
-  */
-template<typename Scalar, int Dim>
-Transform<Scalar,Dim>&
-Transform<Scalar,Dim>::preshear(Scalar sx, Scalar sy)
-{
-  EIGEN_STATIC_ASSERT(int(Dim)==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
-  m_matrix.template block<Dim,HDim>(0,0) = LinearMatrixType(1, sx, sy, 1) * m_matrix.template block<Dim,HDim>(0,0);
-  return *this;
-}
-
-/******************************************************
-*** Scaling, Translation and Rotation compatibility ***
-******************************************************/
-
-template<typename Scalar, int Dim>
-inline Transform<Scalar,Dim>& Transform<Scalar,Dim>::operator=(const TranslationType& t)
-{
-  linear().setIdentity();
-  translation() = t.vector();
-  m_matrix.template block<1,Dim>(Dim,0).setZero();
-  m_matrix(Dim,Dim) = Scalar(1);
-  return *this;
-}
-
-template<typename Scalar, int Dim>
-inline Transform<Scalar,Dim> Transform<Scalar,Dim>::operator*(const TranslationType& t) const
-{
-  Transform res = *this;
-  res.translate(t.vector());
-  return res;
-}
-
-template<typename Scalar, int Dim>
-inline Transform<Scalar,Dim>& Transform<Scalar,Dim>::operator=(const ScalingType& s)
-{
-  m_matrix.setZero();
-  linear().diagonal() = s.coeffs();
-  m_matrix.coeffRef(Dim,Dim) = Scalar(1);
-  return *this;
-}
-
-template<typename Scalar, int Dim>
-inline Transform<Scalar,Dim> Transform<Scalar,Dim>::operator*(const ScalingType& s) const
-{
-  Transform res = *this;
-  res.scale(s.coeffs());
-  return res;
-}
-
-template<typename Scalar, int Dim>
-template<typename Derived>
-inline Transform<Scalar,Dim>& Transform<Scalar,Dim>::operator=(const RotationBase<Derived,Dim>& r)
-{
-  linear() = ei_toRotationMatrix<Scalar,Dim>(r);
-  translation().setZero();
-  m_matrix.template block<1,Dim>(Dim,0).setZero();
-  m_matrix.coeffRef(Dim,Dim) = Scalar(1);
-  return *this;
-}
-
-template<typename Scalar, int Dim>
-template<typename Derived>
-inline Transform<Scalar,Dim> Transform<Scalar,Dim>::operator*(const RotationBase<Derived,Dim>& r) const
-{
-  Transform res = *this;
-  res.rotate(r.derived());
-  return res;
-}
-
-/************************
-*** Special functions ***
-************************/
-
-/** \returns the rotation part of the transformation
-  * \nonstableyet
-  *
-  * \svd_module
-  *
-  * \sa computeRotationScaling(), computeScalingRotation(), class SVD
-  */
-template<typename Scalar, int Dim>
-typename Transform<Scalar,Dim>::LinearMatrixType
-Transform<Scalar,Dim>::rotation() const
-{
-  LinearMatrixType result;
-  computeRotationScaling(&result, (LinearMatrixType*)0);
-  return result;
-}
-
-
-/** decomposes the linear part of the transformation as a product rotation x scaling, the scaling being
-  * not necessarily positive.
-  *
-  * If either pointer is zero, the corresponding computation is skipped.
-  *
-  * \nonstableyet
-  *
-  * \svd_module
-  *
-  * \sa computeScalingRotation(), rotation(), class SVD
-  */
-template<typename Scalar, int Dim>
-template<typename RotationMatrixType, typename ScalingMatrixType>
-void Transform<Scalar,Dim>::computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const
-{
-  JacobiSVD<LinearMatrixType> svd(linear(), ComputeFullU|ComputeFullV);
-  Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant(); // so x has absolute value 1
-  Matrix<Scalar, Dim, 1> sv(svd.singularValues());
-  sv.coeffRef(0) *= x;
-  if(scaling)
-  {
-    scaling->noalias() = svd.matrixV() * sv.asDiagonal() * svd.matrixV().adjoint();
-  }
-  if(rotation)
-  {
-    LinearMatrixType m(svd.matrixU());
-    m.col(0) /= x;
-    rotation->noalias() = m * svd.matrixV().adjoint();
-  }
-}
-
-/** decomposes the linear part of the transformation as a product rotation x scaling, the scaling being
-  * not necessarily positive.
-  *
-  * If either pointer is zero, the corresponding computation is skipped.
-  *
-  * \nonstableyet
-  *
-  * \svd_module
-  *
-  * \sa computeRotationScaling(), rotation(), class SVD
-  */
-template<typename Scalar, int Dim>
-template<typename ScalingMatrixType, typename RotationMatrixType>
-void Transform<Scalar,Dim>::computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const
-{
-  JacobiSVD<LinearMatrixType> svd(linear(), ComputeFullU|ComputeFullV);
-  Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant(); // so x has absolute value 1
-  Matrix<Scalar, Dim, 1> sv(svd.singularValues());
-  sv.coeffRef(0) *= x;
-  if(scaling)
-  {
-    scaling->noalias() = svd.matrixU() * sv.asDiagonal() * svd.matrixU().adjoint();
-  }
-  if(rotation)
-  {
-    LinearMatrixType m(svd.matrixU());
-    m.col(0) /= x;
-    rotation->noalias() = m * svd.matrixV().adjoint();
-  }
-}
-
-/** Convenient method to set \c *this from a position, orientation and scale
-  * of a 3D object.
-  */
-template<typename Scalar, int Dim>
-template<typename PositionDerived, typename OrientationType, typename ScaleDerived>
-Transform<Scalar,Dim>&
-Transform<Scalar,Dim>::fromPositionOrientationScale(const MatrixBase<PositionDerived> &position,
-  const OrientationType& orientation, const MatrixBase<ScaleDerived> &scale)
-{
-  linear() = ei_toRotationMatrix<Scalar,Dim>(orientation);
-  linear() *= scale.asDiagonal();
-  translation() = position;
-  m_matrix.template block<1,Dim>(Dim,0).setZero();
-  m_matrix(Dim,Dim) = Scalar(1);
-  return *this;
-}
-
-/** \nonstableyet
-  *
-  * \returns the inverse transformation matrix according to some given knowledge
-  * on \c *this.
-  *
-  * \param traits allows to optimize the inversion process when the transformion
-  * is known to be not a general transformation. The possible values are:
-  *  - Projective if the transformation is not necessarily affine, i.e., if the
-  *    last row is not guaranteed to be [0 ... 0 1]
-  *  - Affine is the default, the last row is assumed to be [0 ... 0 1]
-  *  - Isometry if the transformation is only a concatenations of translations
-  *    and rotations.
-  *
-  * \warning unless \a traits is always set to NoShear or NoScaling, this function
-  * requires the generic inverse method of MatrixBase defined in the LU module. If
-  * you forget to include this module, then you will get hard to debug linking errors.
-  *
-  * \sa MatrixBase::inverse()
-  */
-template<typename Scalar, int Dim>
-inline const typename Transform<Scalar,Dim>::MatrixType
-Transform<Scalar,Dim>::inverse(TransformTraits traits) const
-{
-  if (traits == Projective)
-  {
-    return m_matrix.inverse();
-  }
-  else
-  {
-    MatrixType res;
-    if (traits == Affine)
-    {
-      res.template corner<Dim,Dim>(TopLeft) = linear().inverse();
-    }
-    else if (traits == Isometry)
-    {
-      res.template corner<Dim,Dim>(TopLeft) = linear().transpose();
-    }
-    else
-    {
-      ei_assert("invalid traits value in Transform::inverse()");
-    }
-    // translation and remaining parts
-    res.template corner<Dim,1>(TopRight) = - res.template corner<Dim,Dim>(TopLeft) * translation();
-    res.template corner<1,Dim>(BottomLeft).setZero();
-    res.coeffRef(Dim,Dim) = Scalar(1);
-    return res;
-  }
-}
-
-/*****************************************************
-*** Specializations of operator* with a MatrixBase ***
-*****************************************************/
-
-template<typename Other, int Dim, int HDim>
-struct ei_transform_product_impl<Other,Dim,HDim, HDim,HDim>
-{
-  typedef Transform<typename Other::Scalar,Dim> TransformType;
-  typedef typename TransformType::MatrixType MatrixType;
-  typedef typename ProductReturnType<MatrixType,Other>::Type ResultType;
-  static ResultType run(const TransformType& tr, const Other& other)
-  { return tr.matrix() * other; }
-};
-
-template<typename Other, int Dim, int HDim>
-struct ei_transform_product_impl<Other,Dim,HDim, Dim,Dim>
-{
-  typedef Transform<typename Other::Scalar,Dim> TransformType;
-  typedef typename TransformType::MatrixType MatrixType;
-  typedef TransformType ResultType;
-  static ResultType run(const TransformType& tr, const Other& other)
-  {
-    TransformType res;
-    res.translation() = tr.translation();
-    res.matrix().row(Dim) = tr.matrix().row(Dim);
-    res.linear() = (tr.linear() * other).lazy();
-    return res;
-  }
-};
-
-template<typename Other, int Dim, int HDim>
-struct ei_transform_product_impl<Other,Dim,HDim, HDim,1>
-{
-  typedef Transform<typename Other::Scalar,Dim> TransformType;
-  typedef typename TransformType::MatrixType MatrixType;
-  typedef typename ProductReturnType<MatrixType,Other>::Type ResultType;
-  static ResultType run(const TransformType& tr, const Other& other)
-  { return tr.matrix() * other; }
-};
-
-template<typename Other, int Dim, int HDim>
-struct ei_transform_product_impl<Other,Dim,HDim, Dim,1>
-{
-  typedef typename Other::Scalar Scalar;
-  typedef Transform<Scalar,Dim> TransformType;
-  typedef Matrix<Scalar,Dim,1> ResultType;
-  static ResultType run(const TransformType& tr, const Other& other)
-  { return ((tr.linear() * other) + tr.translation())
-          * (Scalar(1) / ( (tr.matrix().template block<1,Dim>(Dim,0) * other).coeff(0) + tr.matrix().coeff(Dim,Dim))); }
-};
-
-} // end namespace Eigen
diff --git a/Eigen/src/Eigen2Support/Geometry/Translation.h b/Eigen/src/Eigen2Support/Geometry/Translation.h
deleted file mode 100644
index 2b9859f6f..000000000
--- a/Eigen/src/Eigen2Support/Geometry/Translation.h
+++ /dev/null
@@ -1,184 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. 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
-
-namespace Eigen { 
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \class Translation
-  *
-  * \brief Represents a translation transformation
-  *
-  * \param _Scalar the scalar type, i.e., the type of the coefficients.
-  * \param _Dim the  dimension of the space, can be a compile time value or Dynamic
-  *
-  * \note This class is not aimed to be used to store a translation transformation,
-  * but rather to make easier the constructions and updates of Transform objects.
-  *
-  * \sa class Scaling, class Transform
-  */
-template<typename _Scalar, int _Dim>
-class Translation
-{
-public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Dim)
-  /** dimension of the space */
-  enum { Dim = _Dim };
-  /** the scalar type of the coefficients */
-  typedef _Scalar Scalar;
-  /** corresponding vector type */
-  typedef Matrix<Scalar,Dim,1> VectorType;
-  /** corresponding linear transformation matrix type */
-  typedef Matrix<Scalar,Dim,Dim> LinearMatrixType;
-  /** corresponding scaling transformation type */
-  typedef Scaling<Scalar,Dim> ScalingType;
-  /** corresponding affine transformation type */
-  typedef Transform<Scalar,Dim> TransformType;
-
-protected:
-
-  VectorType m_coeffs;
-
-public:
-
-  /** Default constructor without initialization. */
-  Translation() {}
-  /**  */
-  inline Translation(const Scalar& sx, const Scalar& sy)
-  {
-    ei_assert(Dim==2);
-    m_coeffs.x() = sx;
-    m_coeffs.y() = sy;
-  }
-  /**  */
-  inline Translation(const Scalar& sx, const Scalar& sy, const Scalar& sz)
-  {
-    ei_assert(Dim==3);
-    m_coeffs.x() = sx;
-    m_coeffs.y() = sy;
-    m_coeffs.z() = sz;
-  }
-  /** Constructs and initialize the scaling transformation from a vector of scaling coefficients */
-  explicit inline Translation(const VectorType& vector) : m_coeffs(vector) {}
-
-  const VectorType& vector() const { return m_coeffs; }
-  VectorType& vector() { return m_coeffs; }
-
-  /** Concatenates two translation */
-  inline Translation operator* (const Translation& other) const
-  { return Translation(m_coeffs + other.m_coeffs); }
-
-  /** Concatenates a translation and a scaling */
-  inline TransformType operator* (const ScalingType& other) const;
-
-  /** Concatenates a translation and a linear transformation */
-  inline TransformType operator* (const LinearMatrixType& linear) const;
-
-  template<typename Derived>
-  inline TransformType operator*(const RotationBase<Derived,Dim>& r) const
-  { return *this * r.toRotationMatrix(); }
-
-  /** Concatenates a linear transformation and a translation */
-  // its a nightmare to define a templated friend function outside its declaration
-  friend inline TransformType operator* (const LinearMatrixType& linear, const Translation& t)
-  {
-    TransformType res;
-    res.matrix().setZero();
-    res.linear() = linear;
-    res.translation() = linear * t.m_coeffs;
-    res.matrix().row(Dim).setZero();
-    res(Dim,Dim) = Scalar(1);
-    return res;
-  }
-
-  /** Concatenates a translation and an affine transformation */
-  inline TransformType operator* (const TransformType& t) const;
-
-  /** Applies translation to vector */
-  inline VectorType operator* (const VectorType& other) const
-  { return m_coeffs + other; }
-
-  /** \returns the inverse translation (opposite) */
-  Translation inverse() const { return Translation(-m_coeffs); }
-
-  Translation& operator=(const Translation& other)
-  {
-    m_coeffs = other.m_coeffs;
-    return *this;
-  }
-
-  /** \returns \c *this with scalar type casted to \a NewScalarType
-    *
-    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
-    * then this function smartly returns a const reference to \c *this.
-    */
-  template<typename NewScalarType>
-  inline typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type cast() const
-  { return typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type(*this); }
-
-  /** Copy constructor with scalar type conversion */
-  template<typename OtherScalarType>
-  inline explicit Translation(const Translation<OtherScalarType,Dim>& other)
-  { m_coeffs = other.vector().template cast<Scalar>(); }
-
-  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
-    * determined by \a prec.
-    *
-    * \sa MatrixBase::isApprox() */
-  bool isApprox(const Translation& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
-  { return m_coeffs.isApprox(other.m_coeffs, prec); }
-
-};
-
-/** \addtogroup Geometry_Module */
-//@{
-typedef Translation<float, 2> Translation2f;
-typedef Translation<double,2> Translation2d;
-typedef Translation<float, 3> Translation3f;
-typedef Translation<double,3> Translation3d;
-//@}
-
-
-template<typename Scalar, int Dim>
-inline typename Translation<Scalar,Dim>::TransformType
-Translation<Scalar,Dim>::operator* (const ScalingType& other) const
-{
-  TransformType res;
-  res.matrix().setZero();
-  res.linear().diagonal() = other.coeffs();
-  res.translation() = m_coeffs;
-  res(Dim,Dim) = Scalar(1);
-  return res;
-}
-
-template<typename Scalar, int Dim>
-inline typename Translation<Scalar,Dim>::TransformType
-Translation<Scalar,Dim>::operator* (const LinearMatrixType& linear) const
-{
-  TransformType res;
-  res.matrix().setZero();
-  res.linear() = linear;
-  res.translation() = m_coeffs;
-  res.matrix().row(Dim).setZero();
-  res(Dim,Dim) = Scalar(1);
-  return res;
-}
-
-template<typename Scalar, int Dim>
-inline typename Translation<Scalar,Dim>::TransformType
-Translation<Scalar,Dim>::operator* (const TransformType& t) const
-{
-  TransformType res = t;
-  res.pretranslate(m_coeffs);
-  return res;
-}
-
-} // end namespace Eigen
diff --git a/Eigen/src/Eigen2Support/LU.h b/Eigen/src/Eigen2Support/LU.h
deleted file mode 100644
index 49f19ad76..000000000
--- a/Eigen/src/Eigen2Support/LU.h
+++ /dev/null
@@ -1,120 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2011 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN2_LU_H
-#define EIGEN2_LU_H
-
-namespace Eigen { 
-
-template<typename MatrixType>
-class LU : public FullPivLU<MatrixType>
-{
-  public:
-
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-    typedef Matrix<int, 1, MatrixType::ColsAtCompileTime, MatrixType::Options, 1, MatrixType::MaxColsAtCompileTime> IntRowVectorType;
-    typedef Matrix<int, MatrixType::RowsAtCompileTime, 1, MatrixType::Options, MatrixType::MaxRowsAtCompileTime, 1> IntColVectorType;
-    typedef Matrix<Scalar, 1, MatrixType::ColsAtCompileTime, MatrixType::Options, 1, MatrixType::MaxColsAtCompileTime> RowVectorType;
-    typedef Matrix<Scalar, MatrixType::RowsAtCompileTime, 1, MatrixType::Options, MatrixType::MaxRowsAtCompileTime, 1> ColVectorType;
-
-    typedef Matrix<typename MatrixType::Scalar,
-                  MatrixType::ColsAtCompileTime, // the number of rows in the "kernel matrix" is the number of cols of the original matrix
-                                                 // so that the product "matrix * kernel = zero" makes sense
-                  Dynamic,                       // we don't know at compile-time the dimension of the kernel
-                  MatrixType::Options,
-                  MatrixType::MaxColsAtCompileTime, // see explanation for 2nd template parameter
-                  MatrixType::MaxColsAtCompileTime // the kernel is a subspace of the domain space, whose dimension is the number
-                                                   // of columns of the original matrix
-    > KernelResultType;
-
-    typedef Matrix<typename MatrixType::Scalar,
-                   MatrixType::RowsAtCompileTime, // the image is a subspace of the destination space, whose dimension is the number
-                                                  // of rows of the original matrix
-                   Dynamic,                       // we don't know at compile time the dimension of the image (the rank)
-                   MatrixType::Options,
-                   MatrixType::MaxRowsAtCompileTime, // the image matrix will consist of columns from the original matrix,
-                   MatrixType::MaxColsAtCompileTime  // so it has the same number of rows and at most as many columns.
-    > ImageResultType;
-
-    typedef FullPivLU<MatrixType> Base;
-
-    template<typename T>
-    explicit LU(const T& t) : Base(t), m_originalMatrix(t) {}
-
-    template<typename OtherDerived, typename ResultType>
-    bool solve(const MatrixBase<OtherDerived>& b, ResultType *result) const
-    {
-      *result = static_cast<const Base*>(this)->solve(b);
-      return true;
-    }
-
-    template<typename ResultType>
-    inline void computeInverse(ResultType *result) const
-    {
-      solve(MatrixType::Identity(this->rows(), this->cols()), result);
-    }
-    
-    template<typename KernelMatrixType>
-    void computeKernel(KernelMatrixType *result) const
-    {
-      *result = static_cast<const Base*>(this)->kernel();
-    }
-    
-    template<typename ImageMatrixType>
-    void computeImage(ImageMatrixType *result) const
-    {
-      *result = static_cast<const Base*>(this)->image(m_originalMatrix);
-    }
-    
-    const ImageResultType image() const
-    {
-      return static_cast<const Base*>(this)->image(m_originalMatrix);
-    }
-    
-    const MatrixType& m_originalMatrix;
-};
-
-#if EIGEN2_SUPPORT_STAGE < STAGE20_RESOLVE_API_CONFLICTS
-/** \lu_module
-  *
-  * Synonym of partialPivLu().
-  *
-  * \return the partial-pivoting LU decomposition of \c *this.
-  *
-  * \sa class PartialPivLU
-  */
-template<typename Derived>
-inline const LU<typename MatrixBase<Derived>::PlainObject>
-MatrixBase<Derived>::lu() const
-{
-  return LU<PlainObject>(eval());
-}
-#endif
-
-#ifdef EIGEN2_SUPPORT
-/** \lu_module
-  *
-  * Synonym of partialPivLu().
-  *
-  * \return the partial-pivoting LU decomposition of \c *this.
-  *
-  * \sa class PartialPivLU
-  */
-template<typename Derived>
-inline const LU<typename MatrixBase<Derived>::PlainObject>
-MatrixBase<Derived>::eigen2_lu() const
-{
-  return LU<PlainObject>(eval());
-}
-#endif
-
-} // end namespace Eigen
-
-#endif // EIGEN2_LU_H
diff --git a/Eigen/src/Eigen2Support/Lazy.h b/Eigen/src/Eigen2Support/Lazy.h
deleted file mode 100644
index 593fc78e6..000000000
--- a/Eigen/src/Eigen2Support/Lazy.h
+++ /dev/null
@@ -1,71 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_LAZY_H
-#define EIGEN_LAZY_H
-
-namespace Eigen { 
-
-/** \deprecated it is only used by lazy() which is deprecated
-  *
-  * \returns an expression of *this with added flags
-  *
-  * Example: \include MatrixBase_marked.cpp
-  * Output: \verbinclude MatrixBase_marked.out
-  *
-  * \sa class Flagged, extract(), part()
-  */
-template<typename Derived>
-template<unsigned int Added>
-inline const Flagged<Derived, Added, 0>
-MatrixBase<Derived>::marked() const
-{
-  return derived();
-}
-
-/** \deprecated use MatrixBase::noalias()
-  *
-  * \returns an expression of *this with the EvalBeforeAssigningBit flag removed.
-  *
-  * Example: \include MatrixBase_lazy.cpp
-  * Output: \verbinclude MatrixBase_lazy.out
-  *
-  * \sa class Flagged, marked()
-  */
-template<typename Derived>
-inline const Flagged<Derived, 0, EvalBeforeAssigningBit>
-MatrixBase<Derived>::lazy() const
-{
-  return derived();
-}
-
-
-/** \internal
-  * Overloaded to perform an efficient C += (A*B).lazy() */
-template<typename Derived>
-template<typename ProductDerived, typename Lhs, typename Rhs>
-Derived& MatrixBase<Derived>::operator+=(const Flagged<ProductBase<ProductDerived, Lhs,Rhs>, 0,
-                                                       EvalBeforeAssigningBit>& other)
-{
-  other._expression().derived().addTo(derived()); return derived();
-}
-
-/** \internal
-  * Overloaded to perform an efficient C -= (A*B).lazy() */
-template<typename Derived>
-template<typename ProductDerived, typename Lhs, typename Rhs>
-Derived& MatrixBase<Derived>::operator-=(const Flagged<ProductBase<ProductDerived, Lhs,Rhs>, 0,
-                                                       EvalBeforeAssigningBit>& other)
-{
-  other._expression().derived().subTo(derived()); return derived();
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_LAZY_H
diff --git a/Eigen/src/Eigen2Support/LeastSquares.h b/Eigen/src/Eigen2Support/LeastSquares.h
deleted file mode 100644
index 0e6fdb488..000000000
--- a/Eigen/src/Eigen2Support/LeastSquares.h
+++ /dev/null
@@ -1,170 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2006-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN2_LEASTSQUARES_H
-#define EIGEN2_LEASTSQUARES_H
-
-namespace Eigen { 
-
-/** \ingroup LeastSquares_Module
-  *
-  * \leastsquares_module
-  *
-  * For a set of points, this function tries to express
-  * one of the coords as a linear (affine) function of the other coords.
-  *
-  * This is best explained by an example. This function works in full
-  * generality, for points in a space of arbitrary dimension, and also over
-  * the complex numbers, but for this example we will work in dimension 3
-  * over the real numbers (doubles).
-  *
-  * So let us work with the following set of 5 points given by their
-  * \f$(x,y,z)\f$ coordinates:
-  * @code
-    Vector3d points[5];
-    points[0] = Vector3d( 3.02, 6.89, -4.32 );
-    points[1] = Vector3d( 2.01, 5.39, -3.79 );
-    points[2] = Vector3d( 2.41, 6.01, -4.01 );
-    points[3] = Vector3d( 2.09, 5.55, -3.86 );
-    points[4] = Vector3d( 2.58, 6.32, -4.10 );
-  * @endcode
-  * Suppose that we want to express the second coordinate (\f$y\f$) as a linear
-  * expression in \f$x\f$ and \f$z\f$, that is,
-  * \f[ y=ax+bz+c \f]
-  * for some constants \f$a,b,c\f$. Thus, we want to find the best possible
-  * constants \f$a,b,c\f$ so that the plane of equation \f$y=ax+bz+c\f$ fits
-  * best the five above points. To do that, call this function as follows:
-  * @code
-    Vector3d coeffs; // will store the coefficients a, b, c
-    linearRegression(
-      5,
-      &points,
-      &coeffs,
-      1 // the coord to express as a function of
-        // the other ones. 0 means x, 1 means y, 2 means z.
-    );
-  * @endcode
-  * Now the vector \a coeffs is approximately
-  * \f$( 0.495 ,  -1.927 ,  -2.906 )\f$.
-  * Thus, we get \f$a=0.495, b = -1.927, c = -2.906\f$. Let us check for
-  * instance how near points[0] is from the plane of equation \f$y=ax+bz+c\f$.
-  * Looking at the coords of points[0], we see that:
-  * \f[ax+bz+c = 0.495 * 3.02 + (-1.927) * (-4.32) + (-2.906) = 6.91.\f]
-  * On the other hand, we have \f$y=6.89\f$. We see that the values
-  * \f$6.91\f$ and \f$6.89\f$
-  * are near, so points[0] is very near the plane of equation \f$y=ax+bz+c\f$.
-  *
-  * Let's now describe precisely the parameters:
-  * @param numPoints the number of points
-  * @param points the array of pointers to the points on which to perform the linear regression
-  * @param result pointer to the vector in which to store the result.
-                  This vector must be of the same type and size as the
-                  data points. The meaning of its coords is as follows.
-                  For brevity, let \f$n=Size\f$,
-                  \f$r_i=result[i]\f$,
-                  and \f$f=funcOfOthers\f$. Denote by
-                  \f$x_0,\ldots,x_{n-1}\f$
-                  the n coordinates in the n-dimensional space.
-                  Then the resulting equation is:
-                  \f[ x_f = r_0 x_0 + \cdots + r_{f-1}x_{f-1}
-                   + r_{f+1}x_{f+1} + \cdots + r_{n-1}x_{n-1} + r_n. \f]
-  * @param funcOfOthers Determines which coord to express as a function of the
-                        others. Coords are numbered starting from 0, so that a
-                        value of 0 means \f$x\f$, 1 means \f$y\f$,
-                        2 means \f$z\f$, ...
-  *
-  * \sa fitHyperplane()
-  */
-template<typename VectorType>
-void linearRegression(int numPoints,
-                      VectorType **points,
-                      VectorType *result,
-                      int funcOfOthers )
-{
-  typedef typename VectorType::Scalar Scalar;
-  typedef Hyperplane<Scalar, VectorType::SizeAtCompileTime> HyperplaneType;
-  const int size = points[0]->size();
-  result->resize(size);
-  HyperplaneType h(size);
-  fitHyperplane(numPoints, points, &h);
-  for(int i = 0; i < funcOfOthers; i++)
-    result->coeffRef(i) = - h.coeffs()[i] / h.coeffs()[funcOfOthers];
-  for(int i = funcOfOthers; i < size; i++)
-    result->coeffRef(i) = - h.coeffs()[i+1] / h.coeffs()[funcOfOthers];
-}
-
-/** \ingroup LeastSquares_Module
-  *
-  * \leastsquares_module
-  *
-  * This function is quite similar to linearRegression(), so we refer to the
-  * documentation of this function and only list here the differences.
-  *
-  * The main difference from linearRegression() is that this function doesn't
-  * take a \a funcOfOthers argument. Instead, it finds a general equation
-  * of the form
-  * \f[ r_0 x_0 + \cdots + r_{n-1}x_{n-1} + r_n = 0, \f]
-  * where \f$n=Size\f$, \f$r_i=retCoefficients[i]\f$, and we denote by
-  * \f$x_0,\ldots,x_{n-1}\f$ the n coordinates in the n-dimensional space.
-  *
-  * Thus, the vector \a retCoefficients has size \f$n+1\f$, which is another
-  * difference from linearRegression().
-  *
-  * In practice, this function performs an hyper-plane fit in a total least square sense
-  * via the following steps:
-  *  1 - center the data to the mean
-  *  2 - compute the covariance matrix
-  *  3 - pick the eigenvector corresponding to the smallest eigenvalue of the covariance matrix
-  * The ratio of the smallest eigenvalue and the second one gives us a hint about the relevance
-  * of the solution. This value is optionally returned in \a soundness.
-  *
-  * \sa linearRegression()
-  */
-template<typename VectorType, typename HyperplaneType>
-void fitHyperplane(int numPoints,
-                   VectorType **points,
-                   HyperplaneType *result,
-                   typename NumTraits<typename VectorType::Scalar>::Real* soundness = 0)
-{
-  typedef typename VectorType::Scalar Scalar;
-  typedef Matrix<Scalar,VectorType::SizeAtCompileTime,VectorType::SizeAtCompileTime> CovMatrixType;
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(VectorType)
-  ei_assert(numPoints >= 1);
-  int size = points[0]->size();
-  ei_assert(size+1 == result->coeffs().size());
-
-  // compute the mean of the data
-  VectorType mean = VectorType::Zero(size);
-  for(int i = 0; i < numPoints; ++i)
-    mean += *(points[i]);
-  mean /= numPoints;
-
-  // compute the covariance matrix
-  CovMatrixType covMat = CovMatrixType::Zero(size, size);
-  VectorType remean = VectorType::Zero(size);
-  for(int i = 0; i < numPoints; ++i)
-  {
-    VectorType diff = (*(points[i]) - mean).conjugate();
-    covMat += diff * diff.adjoint();
-  }
-
-  // now we just have to pick the eigen vector with smallest eigen value
-  SelfAdjointEigenSolver<CovMatrixType> eig(covMat);
-  result->normal() = eig.eigenvectors().col(0);
-  if (soundness)
-    *soundness = eig.eigenvalues().coeff(0)/eig.eigenvalues().coeff(1);
-
-  // let's compute the constant coefficient such that the
-  // plane pass trough the mean point:
-  result->offset() = - (result->normal().cwise()* mean).sum();
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN2_LEASTSQUARES_H
diff --git a/Eigen/src/Eigen2Support/Macros.h b/Eigen/src/Eigen2Support/Macros.h
deleted file mode 100644
index 351c32afb..000000000
--- a/Eigen/src/Eigen2Support/Macros.h
+++ /dev/null
@@ -1,20 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2011 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN2_MACROS_H
-#define EIGEN2_MACROS_H
-
-#define ei_assert eigen_assert
-#define ei_internal_assert eigen_internal_assert
-
-#define EIGEN_ALIGN_128 EIGEN_ALIGN16
-
-#define EIGEN_ARCH_WANTS_ALIGNMENT EIGEN_ALIGN_STATICALLY
-
-#endif // EIGEN2_MACROS_H
diff --git a/Eigen/src/Eigen2Support/MathFunctions.h b/Eigen/src/Eigen2Support/MathFunctions.h
deleted file mode 100644
index 3544af253..000000000
--- a/Eigen/src/Eigen2Support/MathFunctions.h
+++ /dev/null
@@ -1,57 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. 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
-
-namespace Eigen { 
-
-template<typename T> inline typename NumTraits<T>::Real ei_real(const T& x) { return numext::real(x); }
-template<typename T> inline typename NumTraits<T>::Real ei_imag(const T& x) { return numext::imag(x); }
-template<typename T> inline T ei_conj(const T& x) { return numext::conj(x); }
-template<typename T> inline typename NumTraits<T>::Real ei_abs (const T& x) { using std::abs; return abs(x); }
-template<typename T> inline typename NumTraits<T>::Real ei_abs2(const T& x) { return numext::abs2(x); }
-template<typename T> inline T ei_sqrt(const T& x) { using std::sqrt; return sqrt(x); }
-template<typename T> inline T ei_exp (const T& x) { using std::exp;  return exp(x); }
-template<typename T> inline T ei_log (const T& x) { using std::log;  return log(x); }
-template<typename T> inline T ei_sin (const T& x) { using std::sin;  return sin(x); }
-template<typename T> inline T ei_cos (const T& x) { using std::cos;  return cos(x); }
-template<typename T> inline T ei_atan2(const T& x,const T& y) { using std::atan2; return atan2(x,y); }
-template<typename T> inline T ei_pow (const T& x,const T& y) { return numext::pow(x,y); }
-template<typename T> inline T ei_random () { return internal::random<T>(); }
-template<typename T> inline T ei_random (const T& x, const T& y) { return internal::random(x, y); }
-
-template<typename T> inline T precision () { return NumTraits<T>::dummy_precision(); }
-template<typename T> inline T machine_epsilon () { return NumTraits<T>::epsilon(); }
-
-
-template<typename Scalar, typename OtherScalar>
-inline bool ei_isMuchSmallerThan(const Scalar& x, const OtherScalar& y,
-                                   typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision())
-{
-  return internal::isMuchSmallerThan(x, y, precision);
-}
-
-template<typename Scalar>
-inline bool ei_isApprox(const Scalar& x, const Scalar& y,
-                          typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision())
-{
-  return internal::isApprox(x, y, precision);
-}
-
-template<typename Scalar>
-inline bool ei_isApproxOrLessThan(const Scalar& x, const Scalar& y,
-                                    typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision())
-{
-  return internal::isApproxOrLessThan(x, y, precision);
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN2_MATH_FUNCTIONS_H
diff --git a/Eigen/src/Eigen2Support/Memory.h b/Eigen/src/Eigen2Support/Memory.h
deleted file mode 100644
index f86372b6b..000000000
--- a/Eigen/src/Eigen2Support/Memory.h
+++ /dev/null
@@ -1,45 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2011 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN2_MEMORY_H
-#define EIGEN2_MEMORY_H
-
-namespace Eigen { 
-
-inline void* ei_aligned_malloc(size_t size) { return internal::aligned_malloc(size); }
-inline void  ei_aligned_free(void *ptr) { internal::aligned_free(ptr); }
-inline void* ei_aligned_realloc(void *ptr, size_t new_size, size_t old_size) { return internal::aligned_realloc(ptr, new_size, old_size); }
-inline void* ei_handmade_aligned_malloc(size_t size) { return internal::handmade_aligned_malloc(size); }
-inline void  ei_handmade_aligned_free(void *ptr) { internal::handmade_aligned_free(ptr); }
-
-template<bool Align> inline void* ei_conditional_aligned_malloc(size_t size)
-{
-  return internal::conditional_aligned_malloc<Align>(size);
-}
-template<bool Align> inline void ei_conditional_aligned_free(void *ptr)
-{
-  internal::conditional_aligned_free<Align>(ptr);
-}
-template<bool Align> inline void* ei_conditional_aligned_realloc(void* ptr, size_t new_size, size_t old_size)
-{
-  return internal::conditional_aligned_realloc<Align>(ptr, new_size, old_size);
-}
-
-template<typename T> inline T* ei_aligned_new(size_t size)
-{
-  return internal::aligned_new<T>(size);
-}
-template<typename T> inline void ei_aligned_delete(T *ptr, size_t size)
-{
-  return internal::aligned_delete(ptr, size);
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN2_MACROS_H
diff --git a/Eigen/src/Eigen2Support/Meta.h b/Eigen/src/Eigen2Support/Meta.h
deleted file mode 100644
index fa37cfc96..000000000
--- a/Eigen/src/Eigen2Support/Meta.h
+++ /dev/null
@@ -1,75 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2011 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN2_META_H
-#define EIGEN2_META_H
-
-namespace Eigen { 
-
-template<typename T>
-struct ei_traits : internal::traits<T>
-{};
-
-struct ei_meta_true {  enum { ret = 1 }; };
-struct ei_meta_false { enum { ret = 0 }; };
-
-template<bool Condition, typename Then, typename Else>
-struct ei_meta_if { typedef Then ret; };
-
-template<typename Then, typename Else>
-struct ei_meta_if <false, Then, Else> { typedef Else ret; };
-
-template<typename T, typename U> struct ei_is_same_type { enum { ret = 0 }; };
-template<typename T> struct ei_is_same_type<T,T> { enum { ret = 1 }; };
-
-template<typename T> struct ei_unref { typedef T type; };
-template<typename T> struct ei_unref<T&> { typedef T type; };
-
-template<typename T> struct ei_unpointer { typedef T type; };
-template<typename T> struct ei_unpointer<T*> { typedef T type; };
-template<typename T> struct ei_unpointer<T*const> { typedef T type; };
-
-template<typename T> struct ei_unconst { typedef T type; };
-template<typename T> struct ei_unconst<const T> { typedef T type; };
-template<typename T> struct ei_unconst<T const &> { typedef T & type; };
-template<typename T> struct ei_unconst<T const *> { typedef T * type; };
-
-template<typename T> struct ei_cleantype { typedef T type; };
-template<typename T> struct ei_cleantype<const T>   { typedef typename ei_cleantype<T>::type type; };
-template<typename T> struct ei_cleantype<const T&>  { typedef typename ei_cleantype<T>::type type; };
-template<typename T> struct ei_cleantype<T&>        { typedef typename ei_cleantype<T>::type type; };
-template<typename T> struct ei_cleantype<const T*>  { typedef typename ei_cleantype<T>::type type; };
-template<typename T> struct ei_cleantype<T*>        { typedef typename ei_cleantype<T>::type type; };
-
-/** \internal In short, it computes int(sqrt(\a Y)) with \a Y an integer.
-  * Usage example: \code ei_meta_sqrt<1023>::ret \endcode
-  */
-template<int Y,
-         int InfX = 0,
-         int SupX = ((Y==1) ? 1 : Y/2),
-         bool Done = ((SupX-InfX)<=1 ? true : ((SupX*SupX <= Y) && ((SupX+1)*(SupX+1) > Y))) >
-                                // use ?: instead of || just to shut up a stupid gcc 4.3 warning
-class ei_meta_sqrt
-{
-    enum {
-      MidX = (InfX+SupX)/2,
-      TakeInf = MidX*MidX > Y ? 1 : 0,
-      NewInf = int(TakeInf) ? InfX : int(MidX),
-      NewSup = int(TakeInf) ? int(MidX) : SupX
-    };
-  public:
-    enum { ret = ei_meta_sqrt<Y,NewInf,NewSup>::ret };
-};
-
-template<int Y, int InfX, int SupX>
-class ei_meta_sqrt<Y, InfX, SupX, true> { public:  enum { ret = (SupX*SupX <= Y) ? SupX : InfX }; };
-
-} // end namespace Eigen
-
-#endif // EIGEN2_META_H
diff --git a/Eigen/src/Eigen2Support/Minor.h b/Eigen/src/Eigen2Support/Minor.h
deleted file mode 100644
index 4cded5734..000000000
--- a/Eigen/src/Eigen2Support/Minor.h
+++ /dev/null
@@ -1,117 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2006-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MINOR_H
-#define EIGEN_MINOR_H
-
-namespace Eigen { 
-
-/**
-  * \class Minor
-  *
-  * \brief Expression of a minor
-  *
-  * \param MatrixType the type of the object in which we are taking a minor
-  *
-  * This class represents an expression of a minor. It is the return
-  * type of MatrixBase::minor() and most of the time this is the only way it
-  * is used.
-  *
-  * \sa MatrixBase::minor()
-  */
-
-namespace internal {
-template<typename MatrixType>
-struct traits<Minor<MatrixType> >
- : traits<MatrixType>
-{
-  typedef typename nested<MatrixType>::type MatrixTypeNested;
-  typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
-  typedef typename MatrixType::StorageKind StorageKind;
-  enum {
-    RowsAtCompileTime = (MatrixType::RowsAtCompileTime != Dynamic) ?
-                          int(MatrixType::RowsAtCompileTime) - 1 : Dynamic,
-    ColsAtCompileTime = (MatrixType::ColsAtCompileTime != Dynamic) ?
-                          int(MatrixType::ColsAtCompileTime) - 1 : Dynamic,
-    MaxRowsAtCompileTime = (MatrixType::MaxRowsAtCompileTime != Dynamic) ?
-                             int(MatrixType::MaxRowsAtCompileTime) - 1 : Dynamic,
-    MaxColsAtCompileTime = (MatrixType::MaxColsAtCompileTime != Dynamic) ?
-                             int(MatrixType::MaxColsAtCompileTime) - 1 : Dynamic,
-    Flags = _MatrixTypeNested::Flags & (HereditaryBits | LvalueBit),
-    CoeffReadCost = _MatrixTypeNested::CoeffReadCost // minor is used typically on tiny matrices,
-      // where loops are unrolled and the 'if' evaluates at compile time
-  };
-};
-}
-
-template<typename MatrixType> class Minor
-  : public MatrixBase<Minor<MatrixType> >
-{
-  public:
-
-    typedef MatrixBase<Minor> Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(Minor)
-
-    inline Minor(const MatrixType& matrix,
-                       Index row, Index col)
-      : m_matrix(matrix), m_row(row), m_col(col)
-    {
-      eigen_assert(row >= 0 && row < matrix.rows()
-          && col >= 0 && col < matrix.cols());
-    }
-
-    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Minor)
-
-    inline Index rows() const { return m_matrix.rows() - 1; }
-    inline Index cols() const { return m_matrix.cols() - 1; }
-
-    inline Scalar& coeffRef(Index row, Index col)
-    {
-      return m_matrix.const_cast_derived().coeffRef(row + (row >= m_row), col + (col >= m_col));
-    }
-
-    inline const Scalar coeff(Index row, Index col) const
-    {
-      return m_matrix.coeff(row + (row >= m_row), col + (col >= m_col));
-    }
-
-  protected:
-    const typename MatrixType::Nested m_matrix;
-    const Index m_row, m_col;
-};
-
-/**
-  * \return an expression of the (\a row, \a col)-minor of *this,
-  * i.e. an expression constructed from *this by removing the specified
-  * row and column.
-  *
-  * Example: \include MatrixBase_minor.cpp
-  * Output: \verbinclude MatrixBase_minor.out
-  *
-  * \sa class Minor
-  */
-template<typename Derived>
-inline Minor<Derived>
-MatrixBase<Derived>::minor(Index row, Index col)
-{
-  return Minor<Derived>(derived(), row, col);
-}
-
-/**
-  * This is the const version of minor(). */
-template<typename Derived>
-inline const Minor<Derived>
-MatrixBase<Derived>::minor(Index row, Index col) const
-{
-  return Minor<Derived>(derived(), row, col);
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_MINOR_H
diff --git a/Eigen/src/Eigen2Support/QR.h b/Eigen/src/Eigen2Support/QR.h
deleted file mode 100644
index 2042c9851..000000000
--- a/Eigen/src/Eigen2Support/QR.h
+++ /dev/null
@@ -1,67 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-// Copyright (C) 2011 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN2_QR_H
-#define EIGEN2_QR_H
-
-namespace Eigen { 
-
-template<typename MatrixType>
-class QR : public HouseholderQR<MatrixType>
-{
-  public:
-
-    typedef HouseholderQR<MatrixType> Base;
-    typedef Block<const MatrixType, MatrixType::ColsAtCompileTime, MatrixType::ColsAtCompileTime> MatrixRBlockType;
-
-    QR() : Base() {}
-
-    template<typename T>
-    explicit QR(const T& t) : Base(t) {}
-
-    template<typename OtherDerived, typename ResultType>
-    bool solve(const MatrixBase<OtherDerived>& b, ResultType *result) const
-    {
-      *result = static_cast<const Base*>(this)->solve(b);
-      return true;
-    }
-
-    MatrixType matrixQ(void) const {
-      MatrixType ret = MatrixType::Identity(this->rows(), this->cols());
-      ret = this->householderQ() * ret;
-      return ret;
-    }
-
-    bool isFullRank() const {
-      return true;
-    }
-    
-    const TriangularView<MatrixRBlockType, UpperTriangular>
-    matrixR(void) const
-    {
-      int cols = this->cols();
-      return MatrixRBlockType(this->matrixQR(), 0, 0, cols, cols).template triangularView<UpperTriangular>();
-    }
-};
-
-/** \return the QR decomposition of \c *this.
-  *
-  * \sa class QR
-  */
-template<typename Derived>
-const QR<typename MatrixBase<Derived>::PlainObject>
-MatrixBase<Derived>::qr() const
-{
-  return QR<PlainObject>(eval());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN2_QR_H
diff --git a/Eigen/src/Eigen2Support/SVD.h b/Eigen/src/Eigen2Support/SVD.h
deleted file mode 100644
index 3d03d2288..000000000
--- a/Eigen/src/Eigen2Support/SVD.h
+++ /dev/null
@@ -1,637 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. 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
-
-namespace Eigen {
-
-/** \ingroup SVD_Module
-  * \nonstableyet
-  *
-  * \class SVD
-  *
-  * \brief Standard SVD decomposition of a matrix and associated features
-  *
-  * \param MatrixType the type of the matrix of which we are computing the SVD decomposition
-  *
-  * This class performs a standard SVD decomposition of a real matrix A of size \c M x \c N
-  * with \c M \>= \c N.
-  *
-  *
-  * \sa MatrixBase::SVD()
-  */
-template<typename MatrixType> class SVD
-{
-  private:
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-
-    enum {
-      PacketSize = internal::packet_traits<Scalar>::size,
-      AlignmentMask = int(PacketSize)-1,
-      MinSize = EIGEN_SIZE_MIN_PREFER_DYNAMIC(MatrixType::RowsAtCompileTime, MatrixType::ColsAtCompileTime)
-    };
-
-    typedef Matrix<Scalar, MatrixType::RowsAtCompileTime, 1> ColVector;
-    typedef Matrix<Scalar, MatrixType::ColsAtCompileTime, 1> RowVector;
-
-    typedef Matrix<Scalar, MatrixType::RowsAtCompileTime, MinSize> MatrixUType;
-    typedef Matrix<Scalar, MatrixType::ColsAtCompileTime, MatrixType::ColsAtCompileTime> MatrixVType;
-    typedef Matrix<Scalar, MinSize, 1> SingularValuesType;
-
-  public:
-
-    SVD() {} // a user who relied on compiler-generated default compiler reported problems with MSVC in 2.0.7
-    
-    SVD(const MatrixType& matrix)
-      : m_matU(matrix.rows(), (std::min)(matrix.rows(), matrix.cols())),
-        m_matV(matrix.cols(),matrix.cols()),
-        m_sigma((std::min)(matrix.rows(),matrix.cols()))
-    {
-      compute(matrix);
-    }
-
-    template<typename OtherDerived, typename ResultType>
-    bool solve(const MatrixBase<OtherDerived> &b, ResultType* result) const;
-
-    const MatrixUType& matrixU() const { return m_matU; }
-    const SingularValuesType& singularValues() const { return m_sigma; }
-    const MatrixVType& matrixV() const { return m_matV; }
-
-    void compute(const MatrixType& matrix);
-    SVD& sort();
-
-    template<typename UnitaryType, typename PositiveType>
-    void computeUnitaryPositive(UnitaryType *unitary, PositiveType *positive) const;
-    template<typename PositiveType, typename UnitaryType>
-    void computePositiveUnitary(PositiveType *positive, UnitaryType *unitary) const;
-    template<typename RotationType, typename ScalingType>
-    void computeRotationScaling(RotationType *unitary, ScalingType *positive) const;
-    template<typename ScalingType, typename RotationType>
-    void computeScalingRotation(ScalingType *positive, RotationType *unitary) const;
-
-  protected:
-    /** \internal */
-    MatrixUType m_matU;
-    /** \internal */
-    MatrixVType m_matV;
-    /** \internal */
-    SingularValuesType m_sigma;
-};
-
-/** Computes / recomputes the SVD decomposition A = U S V^* of \a matrix
-  *
-  * \note this code has been adapted from JAMA (public domain)
-  */
-template<typename MatrixType>
-void SVD<MatrixType>::compute(const MatrixType& matrix)
-{
-  const int m = matrix.rows();
-  const int n = matrix.cols();
-  const int nu = (std::min)(m,n);
-  ei_assert(m>=n && "In Eigen 2.0, SVD only works for MxN matrices with M>=N. Sorry!");
-  ei_assert(m>1 && "In Eigen 2.0, SVD doesn't work on 1x1 matrices");
-
-  m_matU.resize(m, nu);
-  m_matU.setZero();
-  m_sigma.resize((std::min)(m,n));
-  m_matV.resize(n,n);
-
-  RowVector e(n);
-  ColVector work(m);
-  MatrixType matA(matrix);
-  const bool wantu = true;
-  const bool wantv = true;
-  int i=0, j=0, k=0;
-
-  // Reduce A to bidiagonal form, storing the diagonal elements
-  // in s and the super-diagonal elements in e.
-  int nct = (std::min)(m-1,n);
-  int nrt = (std::max)(0,(std::min)(n-2,m));
-  for (k = 0; k < (std::max)(nct,nrt); ++k)
-  {
-    if (k < nct)
-    {
-      // Compute the transformation for the k-th column and
-      // place the k-th diagonal in m_sigma[k].
-      m_sigma[k] = matA.col(k).end(m-k).norm();
-      if (m_sigma[k] != 0.0) // FIXME
-      {
-        if (matA(k,k) < 0.0)
-          m_sigma[k] = -m_sigma[k];
-        matA.col(k).end(m-k) /= m_sigma[k];
-        matA(k,k) += 1.0;
-      }
-      m_sigma[k] = -m_sigma[k];
-    }
-
-    for (j = k+1; j < n; ++j)
-    {
-      if ((k < nct) && (m_sigma[k] != 0.0))
-      {
-        // Apply the transformation.
-        Scalar t = matA.col(k).end(m-k).eigen2_dot(matA.col(j).end(m-k)); // FIXME dot product or cwise prod + .sum() ??
-        t = -t/matA(k,k);
-        matA.col(j).end(m-k) += t * matA.col(k).end(m-k);
-      }
-
-      // Place the k-th row of A into e for the
-      // subsequent calculation of the row transformation.
-      e[j] = matA(k,j);
-    }
-
-    // Place the transformation in U for subsequent back multiplication.
-    if (wantu & (k < nct))
-      m_matU.col(k).end(m-k) = matA.col(k).end(m-k);
-
-    if (k < nrt)
-    {
-      // Compute the k-th row transformation and place the
-      // k-th super-diagonal in e[k].
-      e[k] = e.end(n-k-1).norm();
-      if (e[k] != 0.0)
-      {
-          if (e[k+1] < 0.0)
-            e[k] = -e[k];
-          e.end(n-k-1) /= e[k];
-          e[k+1] += 1.0;
-      }
-      e[k] = -e[k];
-      if ((k+1 < m) & (e[k] != 0.0))
-      {
-        // Apply the transformation.
-        work.end(m-k-1) = matA.corner(BottomRight,m-k-1,n-k-1) * e.end(n-k-1);
-        for (j = k+1; j < n; ++j)
-          matA.col(j).end(m-k-1) += (-e[j]/e[k+1]) * work.end(m-k-1);
-      }
-
-      // Place the transformation in V for subsequent back multiplication.
-      if (wantv)
-        m_matV.col(k).end(n-k-1) = e.end(n-k-1);
-    }
-  }
-
-
-  // Set up the final bidiagonal matrix or order p.
-  int p = (std::min)(n,m+1);
-  if (nct < n)
-    m_sigma[nct] = matA(nct,nct);
-  if (m < p)
-    m_sigma[p-1] = 0.0;
-  if (nrt+1 < p)
-    e[nrt] = matA(nrt,p-1);
-  e[p-1] = 0.0;
-
-  // If required, generate U.
-  if (wantu)
-  {
-    for (j = nct; j < nu; ++j)
-    {
-      m_matU.col(j).setZero();
-      m_matU(j,j) = 1.0;
-    }
-    for (k = nct-1; k >= 0; k--)
-    {
-      if (m_sigma[k] != 0.0)
-      {
-        for (j = k+1; j < nu; ++j)
-        {
-          Scalar t = m_matU.col(k).end(m-k).eigen2_dot(m_matU.col(j).end(m-k)); // FIXME is it really a dot product we want ?
-          t = -t/m_matU(k,k);
-          m_matU.col(j).end(m-k) += t * m_matU.col(k).end(m-k);
-        }
-        m_matU.col(k).end(m-k) = - m_matU.col(k).end(m-k);
-        m_matU(k,k) = Scalar(1) + m_matU(k,k);
-        if (k-1>0)
-          m_matU.col(k).start(k-1).setZero();
-      }
-      else
-      {
-        m_matU.col(k).setZero();
-        m_matU(k,k) = 1.0;
-      }
-    }
-  }
-
-  // If required, generate V.
-  if (wantv)
-  {
-    for (k = n-1; k >= 0; k--)
-    {
-      if ((k < nrt) & (e[k] != 0.0))
-      {
-        for (j = k+1; j < nu; ++j)
-        {
-          Scalar t = m_matV.col(k).end(n-k-1).eigen2_dot(m_matV.col(j).end(n-k-1)); // FIXME is it really a dot product we want ?
-          t = -t/m_matV(k+1,k);
-          m_matV.col(j).end(n-k-1) += t * m_matV.col(k).end(n-k-1);
-        }
-      }
-      m_matV.col(k).setZero();
-      m_matV(k,k) = 1.0;
-    }
-  }
-
-  // Main iteration loop for the singular values.
-  int pp = p-1;
-  int iter = 0;
-  Scalar eps = ei_pow(Scalar(2),ei_is_same_type<Scalar,float>::ret ? Scalar(-23) : Scalar(-52));
-  while (p > 0)
-  {
-    int k=0;
-    int kase=0;
-
-    // Here is where a test for too many iterations would go.
-
-    // This section of the program inspects for
-    // negligible elements in the s and e arrays.  On
-    // completion the variables kase and k are set as follows.
-
-    // kase = 1     if s(p) and e[k-1] are negligible and k<p
-    // kase = 2     if s(k) is negligible and k<p
-    // kase = 3     if e[k-1] is negligible, k<p, and
-    //              s(k), ..., s(p) are not negligible (qr step).
-    // kase = 4     if e(p-1) is negligible (convergence).
-
-    for (k = p-2; k >= -1; --k)
-    {
-      if (k == -1)
-          break;
-      if (ei_abs(e[k]) <= eps*(ei_abs(m_sigma[k]) + ei_abs(m_sigma[k+1])))
-      {
-          e[k] = 0.0;
-          break;
-      }
-    }
-    if (k == p-2)
-    {
-      kase = 4;
-    }
-    else
-    {
-      int ks;
-      for (ks = p-1; ks >= k; --ks)
-      {
-        if (ks == k)
-          break;
-        Scalar t = (ks != p ? ei_abs(e[ks]) : Scalar(0)) + (ks != k+1 ? ei_abs(e[ks-1]) : Scalar(0));
-        if (ei_abs(m_sigma[ks]) <= eps*t)
-        {
-          m_sigma[ks] = 0.0;
-          break;
-        }
-      }
-      if (ks == k)
-      {
-        kase = 3;
-      }
-      else if (ks == p-1)
-      {
-        kase = 1;
-      }
-      else
-      {
-        kase = 2;
-        k = ks;
-      }
-    }
-    ++k;
-
-    // Perform the task indicated by kase.
-    switch (kase)
-    {
-
-      // Deflate negligible s(p).
-      case 1:
-      {
-        Scalar f(e[p-2]);
-        e[p-2] = 0.0;
-        for (j = p-2; j >= k; --j)
-        {
-          Scalar t(numext::hypot(m_sigma[j],f));
-          Scalar cs(m_sigma[j]/t);
-          Scalar sn(f/t);
-          m_sigma[j] = t;
-          if (j != k)
-          {
-            f = -sn*e[j-1];
-            e[j-1] = cs*e[j-1];
-          }
-          if (wantv)
-          {
-            for (i = 0; i < n; ++i)
-            {
-              t = cs*m_matV(i,j) + sn*m_matV(i,p-1);
-              m_matV(i,p-1) = -sn*m_matV(i,j) + cs*m_matV(i,p-1);
-              m_matV(i,j) = t;
-            }
-          }
-        }
-      }
-      break;
-
-      // Split at negligible s(k).
-      case 2:
-      {
-        Scalar f(e[k-1]);
-        e[k-1] = 0.0;
-        for (j = k; j < p; ++j)
-        {
-          Scalar t(numext::hypot(m_sigma[j],f));
-          Scalar cs( m_sigma[j]/t);
-          Scalar sn(f/t);
-          m_sigma[j] = t;
-          f = -sn*e[j];
-          e[j] = cs*e[j];
-          if (wantu)
-          {
-            for (i = 0; i < m; ++i)
-            {
-              t = cs*m_matU(i,j) + sn*m_matU(i,k-1);
-              m_matU(i,k-1) = -sn*m_matU(i,j) + cs*m_matU(i,k-1);
-              m_matU(i,j) = t;
-            }
-          }
-        }
-      }
-      break;
-
-      // Perform one qr step.
-      case 3:
-      {
-        // Calculate the shift.
-        Scalar scale = (std::max)((std::max)((std::max)((std::max)(
-                        ei_abs(m_sigma[p-1]),ei_abs(m_sigma[p-2])),ei_abs(e[p-2])),
-                        ei_abs(m_sigma[k])),ei_abs(e[k]));
-        Scalar sp = m_sigma[p-1]/scale;
-        Scalar spm1 = m_sigma[p-2]/scale;
-        Scalar epm1 = e[p-2]/scale;
-        Scalar sk = m_sigma[k]/scale;
-        Scalar ek = e[k]/scale;
-        Scalar b = ((spm1 + sp)*(spm1 - sp) + epm1*epm1)/Scalar(2);
-        Scalar c = (sp*epm1)*(sp*epm1);
-        Scalar shift(0);
-        if ((b != 0.0) || (c != 0.0))
-        {
-          shift = ei_sqrt(b*b + c);
-          if (b < 0.0)
-            shift = -shift;
-          shift = c/(b + shift);
-        }
-        Scalar f = (sk + sp)*(sk - sp) + shift;
-        Scalar g = sk*ek;
-
-        // Chase zeros.
-
-        for (j = k; j < p-1; ++j)
-        {
-          Scalar t = numext::hypot(f,g);
-          Scalar cs = f/t;
-          Scalar sn = g/t;
-          if (j != k)
-            e[j-1] = t;
-          f = cs*m_sigma[j] + sn*e[j];
-          e[j] = cs*e[j] - sn*m_sigma[j];
-          g = sn*m_sigma[j+1];
-          m_sigma[j+1] = cs*m_sigma[j+1];
-          if (wantv)
-          {
-            for (i = 0; i < n; ++i)
-            {
-              t = cs*m_matV(i,j) + sn*m_matV(i,j+1);
-              m_matV(i,j+1) = -sn*m_matV(i,j) + cs*m_matV(i,j+1);
-              m_matV(i,j) = t;
-            }
-          }
-          t = numext::hypot(f,g);
-          cs = f/t;
-          sn = g/t;
-          m_sigma[j] = t;
-          f = cs*e[j] + sn*m_sigma[j+1];
-          m_sigma[j+1] = -sn*e[j] + cs*m_sigma[j+1];
-          g = sn*e[j+1];
-          e[j+1] = cs*e[j+1];
-          if (wantu && (j < m-1))
-          {
-            for (i = 0; i < m; ++i)
-            {
-              t = cs*m_matU(i,j) + sn*m_matU(i,j+1);
-              m_matU(i,j+1) = -sn*m_matU(i,j) + cs*m_matU(i,j+1);
-              m_matU(i,j) = t;
-            }
-          }
-        }
-        e[p-2] = f;
-        iter = iter + 1;
-      }
-      break;
-
-      // Convergence.
-      case 4:
-      {
-        // Make the singular values positive.
-        if (m_sigma[k] <= 0.0)
-        {
-          m_sigma[k] = m_sigma[k] < Scalar(0) ? -m_sigma[k] : Scalar(0);
-          if (wantv)
-            m_matV.col(k).start(pp+1) = -m_matV.col(k).start(pp+1);
-        }
-
-        // Order the singular values.
-        while (k < pp)
-        {
-          if (m_sigma[k] >= m_sigma[k+1])
-            break;
-          Scalar t = m_sigma[k];
-          m_sigma[k] = m_sigma[k+1];
-          m_sigma[k+1] = t;
-          if (wantv && (k < n-1))
-            m_matV.col(k).swap(m_matV.col(k+1));
-          if (wantu && (k < m-1))
-            m_matU.col(k).swap(m_matU.col(k+1));
-          ++k;
-        }
-        iter = 0;
-        p--;
-      }
-      break;
-    } // end big switch
-  } // end iterations
-}
-
-template<typename MatrixType>
-SVD<MatrixType>& SVD<MatrixType>::sort()
-{
-  int mu = m_matU.rows();
-  int mv = m_matV.rows();
-  int n  = m_matU.cols();
-
-  for (int i=0; i<n; ++i)
-  {
-    int  k = i;
-    Scalar p = m_sigma.coeff(i);
-
-    for (int j=i+1; j<n; ++j)
-    {
-      if (m_sigma.coeff(j) > p)
-      {
-        k = j;
-        p = m_sigma.coeff(j);
-      }
-    }
-    if (k != i)
-    {
-      m_sigma.coeffRef(k) = m_sigma.coeff(i);  // i.e.
-      m_sigma.coeffRef(i) = p;                 // swaps the i-th and the k-th elements
-
-      int j = mu;
-      for(int s=0; j!=0; ++s, --j)
-        std::swap(m_matU.coeffRef(s,i), m_matU.coeffRef(s,k));
-
-      j = mv;
-      for (int s=0; j!=0; ++s, --j)
-        std::swap(m_matV.coeffRef(s,i), m_matV.coeffRef(s,k));
-    }
-  }
-  return *this;
-}
-
-/** \returns the solution of \f$ A x = b \f$ using the current SVD decomposition of A.
-  * The parts of the solution corresponding to zero singular values are ignored.
-  *
-  * \sa MatrixBase::svd(), LU::solve(), LLT::solve()
-  */
-template<typename MatrixType>
-template<typename OtherDerived, typename ResultType>
-bool SVD<MatrixType>::solve(const MatrixBase<OtherDerived> &b, ResultType* result) const
-{
-  ei_assert(b.rows() == m_matU.rows());
-
-  Scalar maxVal = m_sigma.cwise().abs().maxCoeff();
-  for (int j=0; j<b.cols(); ++j)
-  {
-    Matrix<Scalar,MatrixUType::RowsAtCompileTime,1> aux = m_matU.transpose() * b.col(j);
-
-    for (int i = 0; i <m_matU.cols(); ++i)
-    {
-      Scalar si = m_sigma.coeff(i);
-      if (ei_isMuchSmallerThan(ei_abs(si),maxVal))
-        aux.coeffRef(i) = 0;
-      else
-        aux.coeffRef(i) /= si;
-    }
-
-    result->col(j) = m_matV * aux;
-  }
-  return true;
-}
-
-/** Computes the polar decomposition of the matrix, as a product unitary x positive.
-  *
-  * If either pointer is zero, the corresponding computation is skipped.
-  *
-  * Only for square matrices.
-  *
-  * \sa computePositiveUnitary(), computeRotationScaling()
-  */
-template<typename MatrixType>
-template<typename UnitaryType, typename PositiveType>
-void SVD<MatrixType>::computeUnitaryPositive(UnitaryType *unitary,
-                                             PositiveType *positive) const
-{
-  ei_assert(m_matU.cols() == m_matV.cols() && "Polar decomposition is only for square matrices");
-  if(unitary) *unitary = m_matU * m_matV.adjoint();
-  if(positive) *positive = m_matV * m_sigma.asDiagonal() * m_matV.adjoint();
-}
-
-/** Computes the polar decomposition of the matrix, as a product positive x unitary.
-  *
-  * If either pointer is zero, the corresponding computation is skipped.
-  *
-  * Only for square matrices.
-  *
-  * \sa computeUnitaryPositive(), computeRotationScaling()
-  */
-template<typename MatrixType>
-template<typename UnitaryType, typename PositiveType>
-void SVD<MatrixType>::computePositiveUnitary(UnitaryType *positive,
-                                             PositiveType *unitary) const
-{
-  ei_assert(m_matU.rows() == m_matV.rows() && "Polar decomposition is only for square matrices");
-  if(unitary) *unitary = m_matU * m_matV.adjoint();
-  if(positive) *positive = m_matU * m_sigma.asDiagonal() * m_matU.adjoint();
-}
-
-/** decomposes the matrix as a product rotation x scaling, the scaling being
-  * not necessarily positive.
-  *
-  * If either pointer is zero, the corresponding computation is skipped.
-  *
-  * This method requires the Geometry module.
-  *
-  * \sa computeScalingRotation(), computeUnitaryPositive()
-  */
-template<typename MatrixType>
-template<typename RotationType, typename ScalingType>
-void SVD<MatrixType>::computeRotationScaling(RotationType *rotation, ScalingType *scaling) const
-{
-  ei_assert(m_matU.rows() == m_matV.rows() && "Polar decomposition is only for square matrices");
-  Scalar x = (m_matU * m_matV.adjoint()).determinant(); // so x has absolute value 1
-  Matrix<Scalar, MatrixType::RowsAtCompileTime, 1> sv(m_sigma);
-  sv.coeffRef(0) *= x;
-  if(scaling) scaling->lazyAssign(m_matV * sv.asDiagonal() * m_matV.adjoint());
-  if(rotation)
-  {
-    MatrixType m(m_matU);
-    m.col(0) /= x;
-    rotation->lazyAssign(m * m_matV.adjoint());
-  }
-}
-
-/** decomposes the matrix as a product scaling x rotation, the scaling being
-  * not necessarily positive.
-  *
-  * If either pointer is zero, the corresponding computation is skipped.
-  *
-  * This method requires the Geometry module.
-  *
-  * \sa computeRotationScaling(), computeUnitaryPositive()
-  */
-template<typename MatrixType>
-template<typename ScalingType, typename RotationType>
-void SVD<MatrixType>::computeScalingRotation(ScalingType *scaling, RotationType *rotation) const
-{
-  ei_assert(m_matU.rows() == m_matV.rows() && "Polar decomposition is only for square matrices");
-  Scalar x = (m_matU * m_matV.adjoint()).determinant(); // so x has absolute value 1
-  Matrix<Scalar, MatrixType::RowsAtCompileTime, 1> sv(m_sigma);
-  sv.coeffRef(0) *= x;
-  if(scaling) scaling->lazyAssign(m_matU * sv.asDiagonal() * m_matU.adjoint());
-  if(rotation)
-  {
-    MatrixType m(m_matU);
-    m.col(0) /= x;
-    rotation->lazyAssign(m * m_matV.adjoint());
-  }
-}
-
-
-/** \svd_module
-  * \returns the SVD decomposition of \c *this
-  */
-template<typename Derived>
-inline SVD<typename MatrixBase<Derived>::PlainObject>
-MatrixBase<Derived>::svd() const
-{
-  return SVD<PlainObject>(derived());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN2_SVD_H
diff --git a/Eigen/src/Eigen2Support/TriangularSolver.h b/Eigen/src/Eigen2Support/TriangularSolver.h
deleted file mode 100644
index ebbeb3b49..000000000
--- a/Eigen/src/Eigen2Support/TriangularSolver.h
+++ /dev/null
@@ -1,42 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If 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
-
-namespace Eigen { 
-
-const unsigned int UnitDiagBit = UnitDiag;
-const unsigned int SelfAdjointBit = SelfAdjoint;
-const unsigned int UpperTriangularBit = Upper;
-const unsigned int LowerTriangularBit = Lower;
-
-const unsigned int UpperTriangular = Upper;
-const unsigned int LowerTriangular = Lower;
-const unsigned int UnitUpperTriangular = UnitUpper;
-const unsigned int UnitLowerTriangular = UnitLower;
-
-template<typename ExpressionType, unsigned int Added, unsigned int Removed>
-template<typename OtherDerived>
-typename ExpressionType::PlainObject
-Flagged<ExpressionType,Added,Removed>::solveTriangular(const MatrixBase<OtherDerived>& other) const
-{
-  return m_matrix.template triangularView<Added>().solve(other.derived());
-}
-
-template<typename ExpressionType, unsigned int Added, unsigned int Removed>
-template<typename OtherDerived>
-void Flagged<ExpressionType,Added,Removed>::solveTriangularInPlace(const MatrixBase<OtherDerived>& other) const
-{
-  m_matrix.template triangularView<Added>().solveInPlace(other.derived());
-}
-
-} // end namespace Eigen
-    
-#endif // EIGEN_TRIANGULAR_SOLVER2_H
diff --git a/Eigen/src/Eigen2Support/VectorBlock.h b/Eigen/src/Eigen2Support/VectorBlock.h
deleted file mode 100644
index 71a8080a9..000000000
--- a/Eigen/src/Eigen2Support/VectorBlock.h
+++ /dev/null
@@ -1,94 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN2_VECTORBLOCK_H
-#define EIGEN2_VECTORBLOCK_H
-
-namespace Eigen { 
-
-/** \deprecated use DenseMase::head(Index) */
-template<typename Derived>
-inline VectorBlock<Derived>
-MatrixBase<Derived>::start(Index size)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return VectorBlock<Derived>(derived(), 0, size);
-}
-
-/** \deprecated use DenseMase::head(Index) */
-template<typename Derived>
-inline const VectorBlock<const Derived>
-MatrixBase<Derived>::start(Index size) const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return VectorBlock<const Derived>(derived(), 0, size);
-}
-
-/** \deprecated use DenseMase::tail(Index) */
-template<typename Derived>
-inline VectorBlock<Derived>
-MatrixBase<Derived>::end(Index size)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return VectorBlock<Derived>(derived(), this->size() - size, size);
-}
-
-/** \deprecated use DenseMase::tail(Index) */
-template<typename Derived>
-inline const VectorBlock<const Derived>
-MatrixBase<Derived>::end(Index size) const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return VectorBlock<const Derived>(derived(), this->size() - size, size);
-}
-
-/** \deprecated use DenseMase::head() */
-template<typename Derived>
-template<int Size>
-inline VectorBlock<Derived,Size>
-MatrixBase<Derived>::start()
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return VectorBlock<Derived,Size>(derived(), 0);
-}
-
-/** \deprecated use DenseMase::head() */
-template<typename Derived>
-template<int Size>
-inline const VectorBlock<const Derived,Size>
-MatrixBase<Derived>::start() const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return VectorBlock<const Derived,Size>(derived(), 0);
-}
-
-/** \deprecated use DenseMase::tail() */
-template<typename Derived>
-template<int Size>
-inline VectorBlock<Derived,Size>
-MatrixBase<Derived>::end()
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return VectorBlock<Derived, Size>(derived(), size() - Size);
-}
-
-/** \deprecated use DenseMase::tail() */
-template<typename Derived>
-template<int Size>
-inline const VectorBlock<const Derived,Size>
-MatrixBase<Derived>::end() const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return VectorBlock<const Derived, Size>(derived(), size() - Size);
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN2_VECTORBLOCK_H
diff --git a/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h b/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
index b8146d04d..d10eba201 100644
--- a/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
+++ b/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
@@ -346,40 +346,6 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
       */
     static const int m_maxIterations = 30;
 
-    #ifdef EIGEN2_SUPPORT
-    EIGEN_DEVICE_FUNC
-    SelfAdjointEigenSolver(const MatrixType& matrix, bool computeEigenvectors)
-      : m_eivec(matrix.rows(), matrix.cols()),
-        m_eivalues(matrix.cols()),
-        m_subdiag(matrix.rows() > 1 ? matrix.rows() - 1 : 1),
-        m_isInitialized(false)
-    {
-      compute(matrix, computeEigenvectors);
-    }
-    
-    EIGEN_DEVICE_FUNC
-    SelfAdjointEigenSolver(const MatrixType& matA, const MatrixType& matB, bool computeEigenvectors = true)
-        : m_eivec(matA.cols(), matA.cols()),
-          m_eivalues(matA.cols()),
-          m_subdiag(matA.cols() > 1 ? matA.cols() - 1 : 1),
-          m_isInitialized(false)
-    {
-      static_cast<GeneralizedSelfAdjointEigenSolver<MatrixType>*>(this)->compute(matA, matB, computeEigenvectors ? ComputeEigenvectors : EigenvaluesOnly);
-    }
-    
-    EIGEN_DEVICE_FUNC
-    void compute(const MatrixType& matrix, bool computeEigenvectors)
-    {
-      compute(matrix, computeEigenvectors ? ComputeEigenvectors : EigenvaluesOnly);
-    }
-
-    EIGEN_DEVICE_FUNC
-    void compute(const MatrixType& matA, const MatrixType& matB, bool computeEigenvectors = true)
-    {
-      compute(matA, matB, computeEigenvectors ? ComputeEigenvectors : EigenvaluesOnly);
-    }
-    #endif // EIGEN2_SUPPORT
-
   protected:
     MatrixType m_eivec;
     RealVectorType m_eivalues;
diff --git a/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h b/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h
index 7a46b51fa..dc524c225 100644
--- a/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h
+++ b/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h
@@ -61,6 +61,7 @@ bool bicgstab(const MatrixType& mat, const Rhs& rhs, Dest& x,
   VectorType s(n), t(n);
 
   RealScalar tol2 = tol*tol;
+  RealScalar eps2 = NumTraits<Scalar>::epsilon()*NumTraits<Scalar>::epsilon();
   int i = 0;
   int restarts = 0;
 
@@ -69,7 +70,7 @@ bool bicgstab(const MatrixType& mat, const Rhs& rhs, Dest& x,
     Scalar rho_old = rho;
 
     rho = r0.dot(r);
-    if (internal::isMuchSmallerThan(rho,r0_sqnorm))
+    if (abs(rho) < eps2*r0_sqnorm)
     {
       // The new residual vector became too orthogonal to the arbitrarily choosen direction r0
       // Let's restart with a new r0:
diff --git a/Eigen/src/LU/PartialPivLU.h b/Eigen/src/LU/PartialPivLU.h
index 65312f7d1..02db81e9a 100644
--- a/Eigen/src/LU/PartialPivLU.h
+++ b/Eigen/src/LU/PartialPivLU.h
@@ -536,7 +536,6 @@ MatrixBase<Derived>::partialPivLu() const
 }
 #endif
 
-#if EIGEN2_SUPPORT_STAGE > STAGE20_RESOLVE_API_CONFLICTS
 /** \lu_module
   *
   * Synonym of partialPivLu().
@@ -554,8 +553,6 @@ MatrixBase<Derived>::lu() const
 }
 #endif
 
-#endif
-
 } // end namespace Eigen
 
 #endif // EIGEN_PARTIALLU_H
diff --git a/Eigen/src/SparseCore/SparseMatrixBase.h b/Eigen/src/SparseCore/SparseMatrixBase.h
index 3bc5af86d..22c4040e9 100644
--- a/Eigen/src/SparseCore/SparseMatrixBase.h
+++ b/Eigen/src/SparseCore/SparseMatrixBase.h
@@ -333,17 +333,6 @@ template<typename Derived> class SparseMatrixBase : public EigenBase<Derived>
     template<typename OtherDerived>
     Derived& operator*=(const SparseMatrixBase<OtherDerived>& other);
 
-    #ifdef EIGEN2_SUPPORT
-    // deprecated
-    template<typename OtherDerived>
-    typename internal::plain_matrix_type_column_major<OtherDerived>::type
-    solveTriangular(const MatrixBase<OtherDerived>& other) const;
-
-    // deprecated
-    template<typename OtherDerived>
-    void solveTriangularInPlace(MatrixBase<OtherDerived>& other) const;
-    #endif // EIGEN2_SUPPORT
-
     template<int Mode>
     inline const SparseTriangularView<Derived, Mode> triangularView() const;
 
diff --git a/Eigen/src/SparseCore/TriangularSolver.h b/Eigen/src/SparseCore/TriangularSolver.h
index cb8ad82b4..f958ab300 100644
--- a/Eigen/src/SparseCore/TriangularSolver.h
+++ b/Eigen/src/SparseCore/TriangularSolver.h
@@ -305,30 +305,6 @@ void SparseTriangularView<ExpressionType,Mode>::solveInPlace(SparseMatrixBase<Ot
 //     other = otherCopy;
 }
 
-#ifdef EIGEN2_SUPPORT
-
-// deprecated stuff:
-
-/** \deprecated */
-template<typename Derived>
-template<typename OtherDerived>
-void SparseMatrixBase<Derived>::solveTriangularInPlace(MatrixBase<OtherDerived>& other) const
-{
-  this->template triangular<Flags&(Upper|Lower)>().solveInPlace(other);
-}
-
-/** \deprecated */
-template<typename Derived>
-template<typename OtherDerived>
-typename internal::plain_matrix_type_column_major<OtherDerived>::type
-SparseMatrixBase<Derived>::solveTriangular(const MatrixBase<OtherDerived>& other) const
-{
-  typename internal::plain_matrix_type_column_major<OtherDerived>::type res(other);
-  derived().solveTriangularInPlace(res);
-  return res;
-}
-#endif // EIGEN2_SUPPORT
-
 } // end namespace Eigen
 
 #endif // EIGEN_SPARSETRIANGULARSOLVER_H
diff --git a/Eigen/src/SparseQR/SparseQR.h b/Eigen/src/SparseQR/SparseQR.h
index 5fb5bc203..4c6553bf2 100644
--- a/Eigen/src/SparseQR/SparseQR.h
+++ b/Eigen/src/SparseQR/SparseQR.h
@@ -2,7 +2,7 @@
 // for linear algebra.
 //
 // Copyright (C) 2012-2013 Desire Nuentsa <desire.nuentsa_wakam@inria.fr>
-// Copyright (C) 2012-2013 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2012-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -180,7 +180,7 @@ class SparseQR
       y.bottomRows(y.rows()-rank).setZero();
 
       // Apply the column permutation
-      if (m_perm_c.size())  dest.topRows(cols()) = colsPermutation() * y.topRows(cols());
+      if (m_perm_c.size())  dest = colsPermutation() * y.topRows(cols());
       else                  dest = y.topRows(cols());
       
       m_info = Success;
@@ -286,6 +286,7 @@ void SparseQR<MatrixType,OrderingType>::analyzePattern(const MatrixType& mat)
   ord(mat, m_perm_c); 
   Index n = mat.cols();
   Index m = mat.rows();
+  Index diagSize = (std::min)(m,n);
   
   if (!m_perm_c.size())
   {
@@ -297,13 +298,13 @@ void SparseQR<MatrixType,OrderingType>::analyzePattern(const MatrixType& mat)
   m_outputPerm_c = m_perm_c.inverse();
   internal::coletree(mat, m_etree, m_firstRowElt, m_outputPerm_c.indices().data());
   
-  m_R.resize(n, n);
-  m_Q.resize(m, n);
+  m_R.resize(m, n);
+  m_Q.resize(m, diagSize);
   
   // Allocate space for nonzero elements : rough estimation
   m_R.reserve(2*mat.nonZeros()); //FIXME Get a more accurate estimation through symbolic factorization with the etree
   m_Q.reserve(2*mat.nonZeros());
-  m_hcoeffs.resize(n);
+  m_hcoeffs.resize(diagSize);
   m_analysisIsok = true;
 }
 
@@ -323,11 +324,12 @@ void SparseQR<MatrixType,OrderingType>::factorize(const MatrixType& mat)
   eigen_assert(m_analysisIsok && "analyzePattern() should be called before this step");
   Index m = mat.rows();
   Index n = mat.cols();
-  IndexVector mark(m); mark.setConstant(-1);  // Record the visited nodes
-  IndexVector Ridx(n), Qidx(m);               // Store temporarily the row indexes for the current column of R and Q
-  Index nzcolR, nzcolQ;                       // Number of nonzero for the current column of R and Q
-  ScalarVector tval(m);                       // The dense vector used to compute the current column
-  bool found_diag;
+  Index diagSize = (std::min)(m,n);
+  IndexVector mark((std::max)(m,n)); mark.setConstant(-1);  // Record the visited nodes
+  IndexVector Ridx(n), Qidx(m);                             // Store temporarily the row indexes for the current column of R and Q
+  Index nzcolR, nzcolQ;                                     // Number of nonzero for the current column of R and Q
+  ScalarVector tval(m);                                     // The dense vector used to compute the current column
+  RealScalar pivotThreshold = m_threshold;
     
   m_pmat = mat;
   m_pmat.uncompress(); // To have the innerNonZeroPtr allocated
@@ -339,7 +341,7 @@ void SparseQR<MatrixType,OrderingType>::factorize(const MatrixType& mat)
     m_pmat.innerNonZeroPtr()[p] = mat.outerIndexPtr()[i+1] - mat.outerIndexPtr()[i]; 
   }
   
-  /* Compute the default threshold, see : 
+  /* Compute the default threshold as in MatLab, see:
    * Tim Davis, "Algorithm 915, SuiteSparseQR: Multifrontal Multithreaded Rank-Revealing
    * Sparse QR Factorization, ACM Trans. on Math. Soft. 38(1), 2011, Page 8:3 
    */
@@ -347,24 +349,24 @@ void SparseQR<MatrixType,OrderingType>::factorize(const MatrixType& mat)
   {
     RealScalar max2Norm = 0.0;
     for (int j = 0; j < n; j++) max2Norm = (max)(max2Norm, m_pmat.col(j).norm());
-    m_threshold = 20 * (m + n) * max2Norm * NumTraits<RealScalar>::epsilon();
+    pivotThreshold = 20 * (m + n) * max2Norm * NumTraits<RealScalar>::epsilon();
   }
   
   // Initialize the numerical permutation
   m_pivotperm.setIdentity(n);
   
   Index nonzeroCol = 0; // Record the number of valid pivots
+  m_Q.startVec(0);
   
   // Left looking rank-revealing QR factorization: compute a column of R and Q at a time
-  for (Index col = 0; col < (std::min)(n,m); ++col)
+  for (Index col = 0; col < n; ++col)
   {
     mark.setConstant(-1);
     m_R.startVec(col);
-    m_Q.startVec(col);
     mark(nonzeroCol) = col;
     Qidx(0) = nonzeroCol;
     nzcolR = 0; nzcolQ = 1;
-    found_diag = col>=m;
+    bool found_diag = nonzeroCol>=m;
     tval.setZero(); 
     
     // Symbolic factorization: find the nonzero locations of the column k of the factors R and Q, i.e.,
@@ -373,7 +375,7 @@ void SparseQR<MatrixType,OrderingType>::factorize(const MatrixType& mat)
     // thus the trick with found_diag that permits to do one more iteration on the diagonal element if this one has not been found.
     for (typename MatrixType::InnerIterator itp(m_pmat, col); itp || !found_diag; ++itp)
     {
-      Index curIdx = nonzeroCol ;
+      Index curIdx = nonzeroCol;
       if(itp) curIdx = itp.row();
       if(curIdx == nonzeroCol) found_diag = true;
       
@@ -415,7 +417,7 @@ void SparseQR<MatrixType,OrderingType>::factorize(const MatrixType& mat)
     // Browse all the indexes of R(:,col) in reverse order
     for (Index i = nzcolR-1; i >= 0; i--)
     {
-      Index curIdx = m_pivotperm.indices()(Ridx(i));
+      Index curIdx = Ridx(i);
       
       // Apply the curIdx-th householder vector to the current column (temporarily stored into tval)
       Scalar tdot(0);
@@ -444,34 +446,37 @@ void SparseQR<MatrixType,OrderingType>::factorize(const MatrixType& mat)
         }
       }
     } // End update current column
-        
-    // Compute the Householder reflection that eliminate the current column
-    // FIXME this step should call the Householder module.
-    Scalar tau;
-    RealScalar beta;
-    Scalar c0 = nzcolQ ? tval(Qidx(0)) : Scalar(0);
     
-    // First, the squared norm of Q((col+1):m, col)
-    RealScalar sqrNorm = 0.;
-    for (Index itq = 1; itq < nzcolQ; ++itq) sqrNorm += numext::abs2(tval(Qidx(itq)));
+    Scalar tau;
+    RealScalar beta = 0;
     
-    if(sqrNorm == RealScalar(0) && numext::imag(c0) == RealScalar(0))
+    if(nonzeroCol < diagSize)
     {
-      tau = RealScalar(0);
-      beta = numext::real(c0);
-      tval(Qidx(0)) = 1;
-     }
-    else
-    {
-      using std::sqrt;
-      beta = sqrt(numext::abs2(c0) + sqrNorm);
-      if(numext::real(c0) >= RealScalar(0))
-        beta = -beta;
-      tval(Qidx(0)) = 1;
-      for (Index itq = 1; itq < nzcolQ; ++itq)
-        tval(Qidx(itq)) /= (c0 - beta);
-      tau = numext::conj((beta-c0) / beta);
-        
+      // Compute the Householder reflection that eliminate the current column
+      // FIXME this step should call the Householder module.
+      Scalar c0 = nzcolQ ? tval(Qidx(0)) : Scalar(0);
+      
+      // First, the squared norm of Q((col+1):m, col)
+      RealScalar sqrNorm = 0.;
+      for (Index itq = 1; itq < nzcolQ; ++itq) sqrNorm += numext::abs2(tval(Qidx(itq)));
+      if(sqrNorm == RealScalar(0) && numext::imag(c0) == RealScalar(0))
+      {
+        tau = RealScalar(0);
+        beta = numext::real(c0);
+        tval(Qidx(0)) = 1;
+      }
+      else
+      {
+        using std::sqrt;
+        beta = sqrt(numext::abs2(c0) + sqrNorm);
+        if(numext::real(c0) >= RealScalar(0))
+          beta = -beta;
+        tval(Qidx(0)) = 1;
+        for (Index itq = 1; itq < nzcolQ; ++itq)
+          tval(Qidx(itq)) /= (c0 - beta);
+        tau = numext::conj((beta-c0) / beta);
+          
+      }
     }
 
     // Insert values in R
@@ -485,24 +490,25 @@ void SparseQR<MatrixType,OrderingType>::factorize(const MatrixType& mat)
       }
     }
 
-    if(abs(beta) >= m_threshold)
+    if(nonzeroCol < diagSize && abs(beta) >= pivotThreshold)
     {
       m_R.insertBackByOuterInner(col, nonzeroCol) = beta;
-      nonzeroCol++;
       // The householder coefficient
-      m_hcoeffs(col) = tau;
+      m_hcoeffs(nonzeroCol) = tau;
       // Record the householder reflections
       for (Index itq = 0; itq < nzcolQ; ++itq)
       {
         Index iQ = Qidx(itq);
-        m_Q.insertBackByOuterInnerUnordered(col,iQ) = tval(iQ);
+        m_Q.insertBackByOuterInnerUnordered(nonzeroCol,iQ) = tval(iQ);
         tval(iQ) = Scalar(0.);
-      }    
+      }
+      nonzeroCol++;
+      if(nonzeroCol<diagSize)
+        m_Q.startVec(nonzeroCol);
     }
     else
     {
       // Zero pivot found: move implicitly this column to the end
-      m_hcoeffs(col) = Scalar(0);
       for (Index j = nonzeroCol; j < n-1; j++) 
         std::swap(m_pivotperm.indices()(j), m_pivotperm.indices()[j+1]);
       
@@ -511,6 +517,8 @@ void SparseQR<MatrixType,OrderingType>::factorize(const MatrixType& mat)
     }
   }
   
+  m_hcoeffs.tail(diagSize-nonzeroCol).setZero();
+  
   // Finalize the column pointers of the sparse matrices R and Q
   m_Q.finalize();
   m_Q.makeCompressed();
@@ -579,14 +587,16 @@ struct SparseQR_QProduct : ReturnByValue<SparseQR_QProduct<SparseQRType, Derived
   template<typename DesType>
   void evalTo(DesType& res) const
   {
+    Index m = m_qr.rows();
     Index n = m_qr.cols();
+    Index diagSize = (std::min)(m,n);
     res = m_other;
     if (m_transpose)
     {
       eigen_assert(m_qr.m_Q.rows() == m_other.rows() && "Non conforming object sizes");
       //Compute res = Q' * other column by column
       for(Index j = 0; j < res.cols(); j++){
-        for (Index k = 0; k < n; k++)
+        for (Index k = 0; k < diagSize; k++)
         {
           Scalar tau = Scalar(0);
           tau = m_qr.m_Q.col(k).dot(res.col(j));
@@ -599,10 +609,10 @@ struct SparseQR_QProduct : ReturnByValue<SparseQR_QProduct<SparseQRType, Derived
     else
     {
       eigen_assert(m_qr.m_Q.rows() == m_other.rows() && "Non conforming object sizes");
-      // Compute res = Q' * other column by column
+      // Compute res = Q * other column by column
       for(Index j = 0; j < res.cols(); j++)
       {
-        for (Index k = n-1; k >=0; k--)
+        for (Index k = diagSize-1; k >=0; k--)
         {
           Scalar tau = Scalar(0);
           tau = m_qr.m_Q.col(k).dot(res.col(j));
@@ -636,7 +646,7 @@ struct SparseQRMatrixQReturnType : public EigenBase<SparseQRMatrixQReturnType<Sp
     return SparseQRMatrixQTransposeReturnType<SparseQRType>(m_qr);
   }
   inline Index rows() const { return m_qr.rows(); }
-  inline Index cols() const { return m_qr.cols(); }
+  inline Index cols() const { return (std::min)(m_qr.rows(),m_qr.cols()); }
   // To use for operations with the transpose of Q
   SparseQRMatrixQTransposeReturnType<SparseQRType> transpose() const
   {
author	Gael Guennebaud <g.gael@free.fr>	2014-07-02 09:35:37 +0200
committer	Gael Guennebaud <g.gael@free.fr>	2014-07-02 09:35:37 +0200
commit	61b88d2feb8f23d1ba122f2c9a73abb183ebb25d (patch)
tree	da8fbb7e88c6668bbf4b63e2c988697d95f9f2de /Eigen
parent	8f4cdbbc8f9b2214b906412701722a150cba3460 (diff)
parent	bf334b8ae51725754f525c2ffcfbd83ffc55ff2e (diff)