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diff --git a/third_party/eigen3/Eigen/src/Geometry/Rotation2D.h b/third_party/eigen3/Eigen/src/Geometry/Rotation2D.h
deleted file mode 100644
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--- a/third_party/eigen3/Eigen/src/Geometry/Rotation2D.h
+++ /dev/null
@@ -1,157 +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_ROTATION2D_H
-#define EIGEN_ROTATION2D_H
-
-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
-  */
-
-namespace internal {
-
-template<typename _Scalar> struct traits<Rotation2D<_Scalar> >
-{
-  typedef _Scalar Scalar;
-};
-} // end namespace internal
-
-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(const 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)
-  { 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(const 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());
-  }
-
-  static inline Rotation2D Identity() { return Rotation2D(0); }
-
-  /** \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, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
-  { return internal::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)
-{
-  using std::atan2;
-  EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime==2 && Derived::ColsAtCompileTime==2,YOU_MADE_A_PROGRAMMING_MISTAKE)
-  m_angle = 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
-{
-  using std::sin;
-  using std::cos;
-  Scalar sinA = sin(m_angle);
-  Scalar cosA = cos(m_angle);
-  return (Matrix2() << cosA, -sinA, sinA, cosA).finished();
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_ROTATION2D_H