4 files changed, 59 insertions, 20 deletions
diff --git a/unsupported/Eigen/NonLinearOptimization b/unsupported/Eigen/NonLinearOptimization
index 774e37a20..80a11f174 100644
--- a/unsupported/Eigen/NonLinearOptimization
+++ b/unsupported/Eigen/NonLinearOptimization
@@ -33,12 +33,41 @@ namespace Eigen {
 /** \ingroup Unsupported_modules
   * \defgroup NonLinearOptimization_Module Non linear optimization module
   *
+  * This module provides implementation of two important algorithms in non linear
+  * optimization. In both cases, we consider a system of non linear functions. Of
+  * course, this should work, and even work very well if those functions are
+  * actually linear. But if this is so, you should probably better use other
+  * methods more fitted to this special case.
+  *
+  * One algorithm allows to find the extremum of such a system (Levenberg
+  * Marquardt algorithm) and the second one is used to find 
+  * a zero for the system (Powell hybrid "dogleg" method).
+  *
+  * This code is a port of a reknown implementation for both algorithms,
+  * called minpack (http://en.wikipedia.org/wiki/MINPACK). Those
+  * implementations have been carefully tuned, tested, and used for several
+  * decades.
+  * The original fortran code was automatically translated in C and then c++,
+  * and then cleaned by several authors
+  * (check http://devernay.free.fr/hacks/cminpack.html).
+  * 
+  * Finally, we ported this code to Eigen, creating classes and API
+  * coherent with Eigen. When possible, we switched to Eigen
+  * implementation, such as most linear algebra (vectors, matrices, "good" norms).
+  *
+  * Doing so, we were very careful to check the tests we setup at the very
+  * beginning, which ensure that the same results are found, with the same
+  * number of iterations.
+  *
   * \code
   * #include <unsupported/Eigen/NonLinearOptimization>
   * \endcode
   */
+
 //@{
 
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+
 #include "src/NonLinearOptimization/qrsolv.h"
 #include "src/NonLinearOptimization/r1updt.h"
 #include "src/NonLinearOptimization/r1mpyq.h"
@@ -52,9 +81,10 @@ namespace Eigen {
 
 #include "src/NonLinearOptimization/chkder.h"
 
+#endif
+
 #include "src/NonLinearOptimization/HybridNonLinearSolver.h"
 #include "src/NonLinearOptimization/LevenbergMarquardt.h"
-
 //@}
 
 }
diff --git a/unsupported/Eigen/NumericalDiff b/unsupported/Eigen/NumericalDiff
index 16e9f629a..3a8bc3287 100644
--- a/unsupported/Eigen/NumericalDiff
+++ b/unsupported/Eigen/NumericalDiff
@@ -36,6 +36,22 @@ namespace Eigen {
   * Warning : this should NOT be confused with automatic differentiation, which
   * is a different method and has its own module in Eigen.
   *
+  * Currently only "Forward" and "Central" scheme are implemented. Those
+  * are basic methods, and there exist some more elaborated way of
+  * computing such approximates. They are implemented using both
+  * proprietary and free software, and usually requires linking to an
+  * external library. It is very easy for you to write a functor
+  * using such software, and the purpose is quite orthogonal to what we
+  * want to achieve with Eigen.
+  *
+  * This is why we will not provide wrappers for every great numerical
+  * differenciation software that exist, but should rather stick with those
+  * basic ones, that still are useful for testing.
+  *
+  * Also, the module "Non linear optimization" needs this in order to
+  * provide full features compatibility with the original (c)minpack
+  * package.
+  *
   * \code
   * #include <unsupported/Eigen/NumericalDiff>
   * \endcode
diff --git a/unsupported/Eigen/src/NonLinearOptimization/HybridNonLinearSolver.h b/unsupported/Eigen/src/NonLinearOptimization/HybridNonLinearSolver.h
index e86401a78..e944f0e1b 100644
--- a/unsupported/Eigen/src/NonLinearOptimization/HybridNonLinearSolver.h
+++ b/unsupported/Eigen/src/NonLinearOptimization/HybridNonLinearSolver.h
@@ -28,6 +28,16 @@
 #ifndef EIGEN_HYBRIDNONLINEARSOLVER_H
 #define EIGEN_HYBRIDNONLINEARSOLVER_H
 
+/**
+  * \brief Finds a zero of a system of n
+  * nonlinear functions in n variables by a modification of the Powell
+  * hybrid method ("dogleg").
+  *
+  * The user must provide a subroutine which calculates the
+  * functions. The Jacobian is either provided by the user, or approximated
+  * using a forward-difference method. 
+  *
+  */
 template<typename FunctorType, typename Scalar=double>
 class HybridNonLinearSolver
 {
diff --git a/unsupported/Eigen/src/NumericalDiff/NumericalDiff.h b/unsupported/Eigen/src/NumericalDiff/NumericalDiff.h
index 4a8480230..98872e0bc 100644
--- a/unsupported/Eigen/src/NumericalDiff/NumericalDiff.h
+++ b/unsupported/Eigen/src/NumericalDiff/NumericalDiff.h
@@ -35,32 +35,15 @@ enum NumericalDiffMode {
 
 
 /**
-  * \brief asdf 
-  *
   * This class allows you to add a method df() to your functor, which will 
   * use numerical differentiation to compute an approximate of the
   * derivative for the functor. Of course, if you have an analytical form
-  * for the derivative, you should rather implement df() using it.
+  * for the derivative, you should rather implement df() by yourself.
   *
   * More information on
   * http://en.wikipedia.org/wiki/Numerical_differentiation
   *
-  * Currently only "Forward" and "Central" scheme are implemented. Those
-  * are basic methods, and there exist some more elaborated way of
-  * computing such approximates. They are implemented using both
-  * proprietary and free software, and usually requires linking to an
-  * external library. It is very easy for you to write a functor
-  * using such software, and the purpose is quite orthogonal to what we
-  * want to achieve with Eigen.
-  *
-  * This is why we will not provide wrappers for every great numerical
-  * differenciation software that exist, but should rather stick with those
-  * basic ones, that still are useful for testing.
-  *
-  * Also, the module "Non linear optimization" needs this in order to
-  * provide full features compatibility with the original (c)minpack
-  * package.
-  *
+  * Currently only "Forward" and "Central" scheme are implemented.
   */
 template<typename Functor, NumericalDiffMode mode=Forward>
 class NumericalDiff : public Functor