From e259f71477c05de231118a114398be22697feaaa Mon Sep 17 00:00:00 2001
From: Benoit Jacob <jacob.benoit.1@gmail.com>
Date: Tue, 19 Oct 2010 21:56:26 -0400
Subject: rename PlanarRotation -> JacobiRotation

---
 Eigen/src/Core/MatrixBase.h                        |  4 +--
 Eigen/src/Core/util/ForwardDeclarations.h          |  2 +-
 Eigen/src/Eigenvalues/ComplexSchur.h               |  2 +-
 Eigen/src/Eigenvalues/RealSchur.h                  |  2 +-
 Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h     |  2 +-
 Eigen/src/Jacobi/Jacobi.h                          | 42 +++++++++++-----------
 Eigen/src/SVD/JacobiSVD.h                          | 10 +++---
 bench/btl/libs/eigen2/eigen2_interface.hh          |  2 +-
 blas/level1_impl.h                                 |  8 ++---
 doc/snippets/Jacobi_makeGivens.cpp                 |  2 +-
 doc/snippets/Jacobi_makeJacobi.cpp                 |  2 +-
 test/jacobi.cpp                                    |  2 +-
 .../Eigen/src/MatrixFunctions/MatrixFunction.h     |  2 +-
 .../NonLinearOptimization/HybridNonLinearSolver.h  |  4 +--
 .../Eigen/src/NonLinearOptimization/qrsolv.h       |  2 +-
 .../Eigen/src/NonLinearOptimization/r1mpyq.h       |  2 +-
 .../Eigen/src/NonLinearOptimization/r1updt.h       |  6 ++--
 .../Eigen/src/NonLinearOptimization/rwupdt.h       |  4 +--
 18 files changed, 50 insertions(+), 50 deletions(-)

diff --git a/Eigen/src/Core/MatrixBase.h b/Eigen/src/Core/MatrixBase.h
index e6091313d..3e45cdaf1 100644
--- a/Eigen/src/Core/MatrixBase.h
+++ b/Eigen/src/Core/MatrixBase.h
@@ -377,9 +377,9 @@ template<typename Derived> class MatrixBase
 ///////// Jacobi module /////////
 
     template<typename OtherScalar>
-    void applyOnTheLeft(Index p, Index q, const PlanarRotation<OtherScalar>& j);
+    void applyOnTheLeft(Index p, Index q, const JacobiRotation<OtherScalar>& j);
     template<typename OtherScalar>
-    void applyOnTheRight(Index p, Index q, const PlanarRotation<OtherScalar>& j);
+    void applyOnTheRight(Index p, Index q, const JacobiRotation<OtherScalar>& j);
 
 ///////// MatrixFunctions module /////////
 
diff --git a/Eigen/src/Core/util/ForwardDeclarations.h b/Eigen/src/Core/util/ForwardDeclarations.h
index f6cf3fe41..4b1740c82 100644
--- a/Eigen/src/Core/util/ForwardDeclarations.h
+++ b/Eigen/src/Core/util/ForwardDeclarations.h
@@ -173,7 +173,7 @@ template<typename MatrixType, int QRPreconditioner = ColPivHouseholderQRPrecondi
 template<typename MatrixType, int UpLo = Lower> class LLT;
 template<typename MatrixType, int UpLo = Lower> class LDLT;
 template<typename VectorsType, typename CoeffsType, int Side=OnTheLeft> class HouseholderSequence;
-template<typename Scalar>     class PlanarRotation;
+template<typename Scalar>     class JacobiRotation;
 
 // Geometry module:
 template<typename Derived, int _Dim> class RotationBase;
diff --git a/Eigen/src/Eigenvalues/ComplexSchur.h b/Eigen/src/Eigenvalues/ComplexSchur.h
index edda4211b..612573895 100644
--- a/Eigen/src/Eigenvalues/ComplexSchur.h
+++ b/Eigen/src/Eigenvalues/ComplexSchur.h
@@ -411,7 +411,7 @@ void ComplexSchur<MatrixType>::reduceToTriangularForm(bool computeU)
        bulge is chased down to the bottom of the active submatrix. */
 
     ComplexScalar shift = computeShift(iu, iter);
-    PlanarRotation<ComplexScalar> rot;
+    JacobiRotation<ComplexScalar> rot;
     rot.makeGivens(m_matT.coeff(il,il) - shift, m_matT.coeff(il+1,il));
     m_matT.rightCols(m_matT.cols()-il).applyOnTheLeft(il, il+1, rot.adjoint());
     m_matT.topRows(std::min(il+2,iu)+1).applyOnTheRight(il, il+1, rot);
diff --git a/Eigen/src/Eigenvalues/RealSchur.h b/Eigen/src/Eigenvalues/RealSchur.h
index eb713339b..1d299d5f6 100644
--- a/Eigen/src/Eigenvalues/RealSchur.h
+++ b/Eigen/src/Eigenvalues/RealSchur.h
@@ -326,7 +326,7 @@ inline void RealSchur<MatrixType>::splitOffTwoRows(Index iu, bool computeU, Scal
   if (q >= 0) // Two real eigenvalues
   {
     Scalar z = ei_sqrt(ei_abs(q));
-    PlanarRotation<Scalar> rot;
+    JacobiRotation<Scalar> rot;
     if (p >= 0)
       rot.makeGivens(p + z, m_matT.coeff(iu, iu-1));
     else
diff --git a/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h b/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
index f14baa333..d32e223fb 100644
--- a/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
+++ b/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
@@ -438,7 +438,7 @@ static void ei_tridiagonal_qr_step(RealScalar* diag, RealScalar* subdiag, Index
 
   for (Index k = start; k < end; ++k)
   {
-    PlanarRotation<RealScalar> rot;
+    JacobiRotation<RealScalar> rot;
     rot.makeGivens(x, z);
 
     // do T = G' T G
diff --git a/Eigen/src/Jacobi/Jacobi.h b/Eigen/src/Jacobi/Jacobi.h
index 6fd1ed389..39420bf42 100644
--- a/Eigen/src/Jacobi/Jacobi.h
+++ b/Eigen/src/Jacobi/Jacobi.h
@@ -28,8 +28,8 @@
 
 /** \ingroup Jacobi_Module
   * \jacobi_module
-  * \class PlanarRotation
-  * \brief Represents a rotation in the plane from a cosine-sine pair.
+  * \class JacobiRotation
+  * \brief Represents a rotation given by a cosine-sine pair.
   *
   * This class represents a Jacobi or Givens rotation.
   * This is a 2D rotation in the plane \c J of angle \f$ \theta \f$ defined by
@@ -44,16 +44,16 @@
   *
   * \sa MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
   */
-template<typename Scalar> class PlanarRotation
+template<typename Scalar> class JacobiRotation
 {
   public:
     typedef typename NumTraits<Scalar>::Real RealScalar;
 
     /** Default constructor without any initialization. */
-    PlanarRotation() {}
+    JacobiRotation() {}
 
     /** Construct a planar rotation from a cosine-sine pair (\a c, \c s). */
-    PlanarRotation(const Scalar& c, const Scalar& s) : m_c(c), m_s(s) {}
+    JacobiRotation(const Scalar& c, const Scalar& s) : m_c(c), m_s(s) {}
 
     Scalar& c() { return m_c; }
     Scalar c() const { return m_c; }
@@ -61,17 +61,17 @@ template<typename Scalar> class PlanarRotation
     Scalar s() const { return m_s; }
 
     /** Concatenates two planar rotation */
-    PlanarRotation operator*(const PlanarRotation& other)
+    JacobiRotation operator*(const JacobiRotation& other)
     {
-      return PlanarRotation(m_c * other.m_c - ei_conj(m_s) * other.m_s,
+      return JacobiRotation(m_c * other.m_c - ei_conj(m_s) * other.m_s,
                             ei_conj(m_c * ei_conj(other.m_s) + ei_conj(m_s) * ei_conj(other.m_c)));
     }
 
     /** Returns the transposed transformation */
-    PlanarRotation transpose() const { return PlanarRotation(m_c, -ei_conj(m_s)); }
+    JacobiRotation transpose() const { return JacobiRotation(m_c, -ei_conj(m_s)); }
 
     /** Returns the adjoint transformation */
-    PlanarRotation adjoint() const { return PlanarRotation(ei_conj(m_c), -m_s); }
+    JacobiRotation adjoint() const { return JacobiRotation(ei_conj(m_c), -m_s); }
 
     template<typename Derived>
     bool makeJacobi(const MatrixBase<Derived>&, typename Derived::Index p, typename Derived::Index q);
@@ -92,7 +92,7 @@ template<typename Scalar> class PlanarRotation
   * \sa MatrixBase::makeJacobi(const MatrixBase<Derived>&, Index, Index), MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
   */
 template<typename Scalar>
-bool PlanarRotation<Scalar>::makeJacobi(RealScalar x, Scalar y, RealScalar z)
+bool JacobiRotation<Scalar>::makeJacobi(RealScalar x, Scalar y, RealScalar z)
 {
   typedef typename NumTraits<Scalar>::Real RealScalar;
   if(y == Scalar(0))
@@ -129,11 +129,11 @@ bool PlanarRotation<Scalar>::makeJacobi(RealScalar x, Scalar y, RealScalar z)
   * Example: \include Jacobi_makeJacobi.cpp
   * Output: \verbinclude Jacobi_makeJacobi.out
   *
-  * \sa PlanarRotation::makeJacobi(RealScalar, Scalar, RealScalar), MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
+  * \sa JacobiRotation::makeJacobi(RealScalar, Scalar, RealScalar), MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
   */
 template<typename Scalar>
 template<typename Derived>
-inline bool PlanarRotation<Scalar>::makeJacobi(const MatrixBase<Derived>& m, typename Derived::Index p, typename Derived::Index q)
+inline bool JacobiRotation<Scalar>::makeJacobi(const MatrixBase<Derived>& m, typename Derived::Index p, typename Derived::Index q)
 {
   return makeJacobi(ei_real(m.coeff(p,p)), m.coeff(p,q), ei_real(m.coeff(q,q)));
 }
@@ -155,7 +155,7 @@ inline bool PlanarRotation<Scalar>::makeJacobi(const MatrixBase<Derived>& m, typ
   * \sa MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
   */
 template<typename Scalar>
-void PlanarRotation<Scalar>::makeGivens(const Scalar& p, const Scalar& q, Scalar* z)
+void JacobiRotation<Scalar>::makeGivens(const Scalar& p, const Scalar& q, Scalar* z)
 {
   makeGivens(p, q, z, typename ei_meta_if<NumTraits<Scalar>::IsComplex, ei_meta_true, ei_meta_false>::ret());
 }
@@ -163,7 +163,7 @@ void PlanarRotation<Scalar>::makeGivens(const Scalar& p, const Scalar& q, Scalar
 
 // specialization for complexes
 template<typename Scalar>
-void PlanarRotation<Scalar>::makeGivens(const Scalar& p, const Scalar& q, Scalar* r, ei_meta_true)
+void JacobiRotation<Scalar>::makeGivens(const Scalar& p, const Scalar& q, Scalar* r, ei_meta_true)
 {
   if(q==Scalar(0))
   {
@@ -218,7 +218,7 @@ void PlanarRotation<Scalar>::makeGivens(const Scalar& p, const Scalar& q, Scalar
 
 // specialization for reals
 template<typename Scalar>
-void PlanarRotation<Scalar>::makeGivens(const Scalar& p, const Scalar& q, Scalar* r, ei_meta_false)
+void JacobiRotation<Scalar>::makeGivens(const Scalar& p, const Scalar& q, Scalar* r, ei_meta_false)
 {
 
   if(q==0)
@@ -267,17 +267,17 @@ void PlanarRotation<Scalar>::makeGivens(const Scalar& p, const Scalar& q, Scalar
   * \sa MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
   */
 template<typename VectorX, typename VectorY, typename OtherScalar>
-void ei_apply_rotation_in_the_plane(VectorX& _x, VectorY& _y, const PlanarRotation<OtherScalar>& j);
+void ei_apply_rotation_in_the_plane(VectorX& _x, VectorY& _y, const JacobiRotation<OtherScalar>& j);
 
 /** \jacobi_module
   * Applies the rotation in the plane \a j to the rows \a p and \a q of \c *this, i.e., it computes B = J * B,
   * with \f$ B = \left ( \begin{array}{cc} \text{*this.row}(p) \\ \text{*this.row}(q) \end{array} \right ) \f$.
   *
-  * \sa class PlanarRotation, MatrixBase::applyOnTheRight(), ei_apply_rotation_in_the_plane()
+  * \sa class JacobiRotation, MatrixBase::applyOnTheRight(), ei_apply_rotation_in_the_plane()
   */
 template<typename Derived>
 template<typename OtherScalar>
-inline void MatrixBase<Derived>::applyOnTheLeft(Index p, Index q, const PlanarRotation<OtherScalar>& j)
+inline void MatrixBase<Derived>::applyOnTheLeft(Index p, Index q, const JacobiRotation<OtherScalar>& j)
 {
   RowXpr x(this->row(p));
   RowXpr y(this->row(q));
@@ -288,11 +288,11 @@ inline void MatrixBase<Derived>::applyOnTheLeft(Index p, Index q, const PlanarRo
   * Applies the rotation in the plane \a j to the columns \a p and \a q of \c *this, i.e., it computes B = B * J
   * with \f$ B = \left ( \begin{array}{cc} \text{*this.col}(p) & \text{*this.col}(q) \end{array} \right ) \f$.
   *
-  * \sa class PlanarRotation, MatrixBase::applyOnTheLeft(), ei_apply_rotation_in_the_plane()
+  * \sa class JacobiRotation, MatrixBase::applyOnTheLeft(), ei_apply_rotation_in_the_plane()
   */
 template<typename Derived>
 template<typename OtherScalar>
-inline void MatrixBase<Derived>::applyOnTheRight(Index p, Index q, const PlanarRotation<OtherScalar>& j)
+inline void MatrixBase<Derived>::applyOnTheRight(Index p, Index q, const JacobiRotation<OtherScalar>& j)
 {
   ColXpr x(this->col(p));
   ColXpr y(this->col(q));
@@ -301,7 +301,7 @@ inline void MatrixBase<Derived>::applyOnTheRight(Index p, Index q, const PlanarR
 
 
 template<typename VectorX, typename VectorY, typename OtherScalar>
-void /*EIGEN_DONT_INLINE*/ ei_apply_rotation_in_the_plane(VectorX& _x, VectorY& _y, const PlanarRotation<OtherScalar>& j)
+void /*EIGEN_DONT_INLINE*/ ei_apply_rotation_in_the_plane(VectorX& _x, VectorY& _y, const JacobiRotation<OtherScalar>& j)
 {
   typedef typename VectorX::Index Index;
   typedef typename VectorX::Scalar Scalar;
diff --git a/Eigen/src/SVD/JacobiSVD.h b/Eigen/src/SVD/JacobiSVD.h
index 44880dcf4..56ffea131 100644
--- a/Eigen/src/SVD/JacobiSVD.h
+++ b/Eigen/src/SVD/JacobiSVD.h
@@ -479,7 +479,7 @@ struct ei_svd_precondition_2x2_block_to_be_real<MatrixType, QRPreconditioner, tr
   static void run(typename SVD::WorkMatrixType& work_matrix, SVD& svd, Index p, Index q)
   {
     Scalar z;
-    PlanarRotation<Scalar> rot;
+    JacobiRotation<Scalar> rot;
     RealScalar n = ei_sqrt(ei_abs2(work_matrix.coeff(p,p)) + ei_abs2(work_matrix.coeff(q,p)));
     if(n==0)
     {
@@ -514,13 +514,13 @@ struct ei_svd_precondition_2x2_block_to_be_real<MatrixType, QRPreconditioner, tr
 
 template<typename MatrixType, typename RealScalar, typename Index>
 void ei_real_2x2_jacobi_svd(const MatrixType& matrix, Index p, Index q,
-                            PlanarRotation<RealScalar> *j_left,
-                            PlanarRotation<RealScalar> *j_right)
+                            JacobiRotation<RealScalar> *j_left,
+                            JacobiRotation<RealScalar> *j_right)
 {
   Matrix<RealScalar,2,2> m;
   m << ei_real(matrix.coeff(p,p)), ei_real(matrix.coeff(p,q)),
        ei_real(matrix.coeff(q,p)), ei_real(matrix.coeff(q,q));
-  PlanarRotation<RealScalar> rot1;
+  JacobiRotation<RealScalar> rot1;
   RealScalar t = m.coeff(0,0) + m.coeff(1,1);
   RealScalar d = m.coeff(1,0) - m.coeff(0,1);
   if(t == RealScalar(0))
@@ -584,7 +584,7 @@ JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType& matrix, unsig
 
           // perform SVD decomposition of 2x2 sub-matrix corresponding to indices p,q to make it diagonal
           ei_svd_precondition_2x2_block_to_be_real<MatrixType, QRPreconditioner>::run(m_workMatrix, *this, p, q);
-          PlanarRotation<RealScalar> j_left, j_right;
+          JacobiRotation<RealScalar> j_left, j_right;
           ei_real_2x2_jacobi_svd(m_workMatrix, p, q, &j_left, &j_right);
 
           // accumulate resulting Jacobi rotations
diff --git a/bench/btl/libs/eigen2/eigen2_interface.hh b/bench/btl/libs/eigen2/eigen2_interface.hh
index 9bd9e8a62..428ddc547 100644
--- a/bench/btl/libs/eigen2/eigen2_interface.hh
+++ b/bench/btl/libs/eigen2/eigen2_interface.hh
@@ -166,7 +166,7 @@ public :
   }
 
   static EIGEN_DONT_INLINE void rot(gene_vector & A,  gene_vector & B, real c, real s, int N){
-    ei_apply_rotation_in_the_plane(A, B, PlanarRotation<real>(c,s));
+    ei_apply_rotation_in_the_plane(A, B, JacobiRotation<real>(c,s));
   }
 
   static inline void atv_product(gene_matrix & A, gene_vector & B, gene_vector & X, int N){
diff --git a/blas/level1_impl.h b/blas/level1_impl.h
index 1665310c4..174ede3ce 100644
--- a/blas/level1_impl.h
+++ b/blas/level1_impl.h
@@ -233,9 +233,9 @@ int EIGEN_BLAS_FUNC(rot)(int *n, RealScalar *px, int *incx, RealScalar *py, int
   Reverse<StridedVectorType> rvx(vx);
   Reverse<StridedVectorType> rvy(vy);
 
-       if(*incx<0 && *incy>0) ei_apply_rotation_in_the_plane(rvx, vy, PlanarRotation<Scalar>(c,s));
-  else if(*incx>0 && *incy<0) ei_apply_rotation_in_the_plane(vx, rvy, PlanarRotation<Scalar>(c,s));
-  else                        ei_apply_rotation_in_the_plane(vx, vy,  PlanarRotation<Scalar>(c,s));
+       if(*incx<0 && *incy>0) ei_apply_rotation_in_the_plane(rvx, vy, JacobiRotation<Scalar>(c,s));
+  else if(*incx>0 && *incy<0) ei_apply_rotation_in_the_plane(vx, rvy, JacobiRotation<Scalar>(c,s));
+  else                        ei_apply_rotation_in_the_plane(vx, vy,  JacobiRotation<Scalar>(c,s));
 
 
   return 0;
@@ -293,7 +293,7 @@ int EIGEN_BLAS_FUNC(rotg)(RealScalar *pa, RealScalar *pb, RealScalar *pc, RealSc
   }
   #endif
 
-//   PlanarRotation<Scalar> r;
+//   JacobiRotation<Scalar> r;
 //   r.makeGivens(a,b);
 //   *c = r.c();
 //   *s = r.s();
diff --git a/doc/snippets/Jacobi_makeGivens.cpp b/doc/snippets/Jacobi_makeGivens.cpp
index 3a4defe24..4b733c306 100644
--- a/doc/snippets/Jacobi_makeGivens.cpp
+++ b/doc/snippets/Jacobi_makeGivens.cpp
@@ -1,5 +1,5 @@
 Vector2f v = Vector2f::Random();
-PlanarRotation<float> G;
+JacobiRotation<float> G;
 G.makeGivens(v.x(), v.y());
 cout << "Here is the vector v:" << endl << v << endl;
 v.applyOnTheLeft(0, 1, G.adjoint());
diff --git a/doc/snippets/Jacobi_makeJacobi.cpp b/doc/snippets/Jacobi_makeJacobi.cpp
index 5c0ab7374..0cc331d9f 100644
--- a/doc/snippets/Jacobi_makeJacobi.cpp
+++ b/doc/snippets/Jacobi_makeJacobi.cpp
@@ -1,6 +1,6 @@
 Matrix2f m = Matrix2f::Random();
 m = (m + m.adjoint()).eval();
-PlanarRotation<float> J;
+JacobiRotation<float> J;
 J.makeJacobi(m, 0, 1);
 cout << "Here is the matrix m:" << endl << m << endl;
 m.applyOnTheLeft(0, 1, J.adjoint());
diff --git a/test/jacobi.cpp b/test/jacobi.cpp
index 1c8d96e3c..623a5ac6c 100644
--- a/test/jacobi.cpp
+++ b/test/jacobi.cpp
@@ -45,7 +45,7 @@ void jacobi(const MatrixType& m = MatrixType())
 
   JacobiVector v = JacobiVector::Random().normalized();
   JacobiScalar c = v.x(), s = v.y();
-  PlanarRotation<JacobiScalar> rot(c, s);
+  JacobiRotation<JacobiScalar> rot(c, s);
 
   {
     Index p = ei_random<Index>(0, rows-1);
diff --git a/unsupported/Eigen/src/MatrixFunctions/MatrixFunction.h b/unsupported/Eigen/src/MatrixFunctions/MatrixFunction.h
index ae5dcab59..e83e055e9 100644
--- a/unsupported/Eigen/src/MatrixFunctions/MatrixFunction.h
+++ b/unsupported/Eigen/src/MatrixFunctions/MatrixFunction.h
@@ -358,7 +358,7 @@ void MatrixFunction<MatrixType,1>::permuteSchur()
 template <typename MatrixType>
 void MatrixFunction<MatrixType,1>::swapEntriesInSchur(Index index)
 {
-  PlanarRotation<Scalar> rotation;
+  JacobiRotation<Scalar> rotation;
   rotation.makeGivens(m_T(index, index+1), m_T(index+1, index+1) - m_T(index, index));
   m_T.applyOnTheLeft(index, index+1, rotation.adjoint());
   m_T.applyOnTheRight(index, index+1, rotation);
diff --git a/unsupported/Eigen/src/NonLinearOptimization/HybridNonLinearSolver.h b/unsupported/Eigen/src/NonLinearOptimization/HybridNonLinearSolver.h
index 0ef3ecafa..3308a4a34 100644
--- a/unsupported/Eigen/src/NonLinearOptimization/HybridNonLinearSolver.h
+++ b/unsupported/Eigen/src/NonLinearOptimization/HybridNonLinearSolver.h
@@ -201,7 +201,7 @@ HybridNonLinearSolver<FunctorType,Scalar>::solveOneStep(FVectorType  &x)
     assert(x.size()==n); // check the caller is not cheating us
 
     Index j;
-    std::vector<PlanarRotation<Scalar> > v_givens(n), w_givens(n);
+    std::vector<JacobiRotation<Scalar> > v_givens(n), w_givens(n);
 
     jeval = true;
 
@@ -440,7 +440,7 @@ HybridNonLinearSolver<FunctorType,Scalar>::solveNumericalDiffOneStep(FVectorType
     assert(x.size()==n); // check the caller is not cheating us
 
     Index j;
-    std::vector<PlanarRotation<Scalar> > v_givens(n), w_givens(n);
+    std::vector<JacobiRotation<Scalar> > v_givens(n), w_givens(n);
 
     jeval = true;
     if (parameters.nb_of_subdiagonals<0) parameters.nb_of_subdiagonals= n-1;
diff --git a/unsupported/Eigen/src/NonLinearOptimization/qrsolv.h b/unsupported/Eigen/src/NonLinearOptimization/qrsolv.h
index 15a27d53d..2a602fedf 100644
--- a/unsupported/Eigen/src/NonLinearOptimization/qrsolv.h
+++ b/unsupported/Eigen/src/NonLinearOptimization/qrsolv.h
@@ -18,7 +18,7 @@ void ei_qrsolv(
     Scalar temp;
     Index n = s.cols();
     Matrix< Scalar, Dynamic, 1 >  wa(n);
-    PlanarRotation<Scalar> givens;
+    JacobiRotation<Scalar> givens;
 
     /* Function Body */
     // the following will only change the lower triangular part of s, including
diff --git a/unsupported/Eigen/src/NonLinearOptimization/r1mpyq.h b/unsupported/Eigen/src/NonLinearOptimization/r1mpyq.h
index ad319d9eb..b2ea20d77 100644
--- a/unsupported/Eigen/src/NonLinearOptimization/r1mpyq.h
+++ b/unsupported/Eigen/src/NonLinearOptimization/r1mpyq.h
@@ -2,7 +2,7 @@
 // TODO : move this to GivensQR once there's such a thing in Eigen
 
 template <typename Scalar>
-void ei_r1mpyq(DenseIndex m, DenseIndex n, Scalar *a, const std::vector<PlanarRotation<Scalar> > &v_givens, const std::vector<PlanarRotation<Scalar> > &w_givens)
+void ei_r1mpyq(DenseIndex m, DenseIndex n, Scalar *a, const std::vector<JacobiRotation<Scalar> > &v_givens, const std::vector<JacobiRotation<Scalar> > &w_givens)
 {
     typedef DenseIndex Index;
 
diff --git a/unsupported/Eigen/src/NonLinearOptimization/r1updt.h b/unsupported/Eigen/src/NonLinearOptimization/r1updt.h
index e01d02910..881327af7 100644
--- a/unsupported/Eigen/src/NonLinearOptimization/r1updt.h
+++ b/unsupported/Eigen/src/NonLinearOptimization/r1updt.h
@@ -3,8 +3,8 @@ template <typename Scalar>
 void ei_r1updt(
         Matrix< Scalar, Dynamic, Dynamic > &s,
         const Matrix< Scalar, Dynamic, 1> &u,
-        std::vector<PlanarRotation<Scalar> > &v_givens,
-        std::vector<PlanarRotation<Scalar> > &w_givens,
+        std::vector<JacobiRotation<Scalar> > &v_givens,
+        std::vector<JacobiRotation<Scalar> > &w_givens,
         Matrix< Scalar, Dynamic, 1> &v,
         Matrix< Scalar, Dynamic, 1> &w,
         bool *sing)
@@ -16,7 +16,7 @@ void ei_r1updt(
     const Index n = s.cols();
     Index i, j=1;
     Scalar temp;
-    PlanarRotation<Scalar> givens;
+    JacobiRotation<Scalar> givens;
 
     // ei_r1updt had a broader usecase, but we dont use it here. And, more
     // importantly, we can not test it.
diff --git a/unsupported/Eigen/src/NonLinearOptimization/rwupdt.h b/unsupported/Eigen/src/NonLinearOptimization/rwupdt.h
index aa0bf7d0f..ec97b707a 100644
--- a/unsupported/Eigen/src/NonLinearOptimization/rwupdt.h
+++ b/unsupported/Eigen/src/NonLinearOptimization/rwupdt.h
@@ -10,7 +10,7 @@ void ei_rwupdt(
 
     const Index n = r.cols();
     assert(r.rows()>=n);
-    std::vector<PlanarRotation<Scalar> > givens(n);
+    std::vector<JacobiRotation<Scalar> > givens(n);
 
     /* Local variables */
     Scalar temp, rowj;
@@ -29,7 +29,7 @@ void ei_rwupdt(
 
         if (rowj == 0.)
         {
-          givens[j] = PlanarRotation<Scalar>(1,0);
+          givens[j] = JacobiRotation<Scalar>(1,0);
           continue;
         }
 
-- 
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